YASKAWA CPCR-MR15C, CPCR-MR15CW, CPCR-MR22C, CPCR-MR55C, CPCR-MR22CW Bulletin

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BULLETIN

_ I .qPmvnpAnk"I I I

_,,JL----I iVV/I IVI 'qL

DC SERVOMOTOR CONTROLI ER
FOR SPEED CONTROL

TYPE CPCR-MR01C TO -MRggc

\

V

YASKAWA

SERVOPACK type CPCR-MRE!C isa speed controller for power servomotors such
as Print Motor Standard Series, Cup Motor, Hi-Cup Motor, Minertia Motor, and Miner-

tia Motor J Series. The speed of these servomotors, forward or reverse, Is precise-
ly controlled through a wide range.

The SERVOPACK type CPCR-MRFiC, thus, is useful for industrial machines

in the fields where the following requirements are especially high:

• Wide range of variable speed control (1000:1)

• Frequent start and stop operations
(1000 operations/min)

• Frequent reversing operations (1000 operations/min)

• High-speed precise positioning (10#m or less)

• High-level servo characteristics
(Frequency response: DC to 100 Hz).

SERVOPCAK

TYPES CPCR-MR01C
TO -MR07C

POWER THERMAL

SINGLE-PHASE TRANSFORMER

AC MAGNETIC _-"_... -- I1_11_ OVERLOAD

200/220VAC ±10% CONTACTOR - -" -- __._ RELAY MINERTIA MOTOR
OR 100/110 VAC "_ J SERIES WITH TG

±10 %, 50/60 Hz

SPEED ADJUSTING IL_

POTENTIOMETER _ _li_ 581-,88

58o-97_, > _ <

Configuration of SERVOPACK Types CPCR-MR01C

to -MR07C, Servomotor and Optional Components

SERVOPACK
TYPES CPCR-MR080
TO -MR99C

THERMAL

DC REACTOR OVERLOAD

RELAY

3-PHASE HI-CUPMOTOR
200/220 VAC _+10%, AC MAGNETIC WITH TG

50/60 Hz CONTACTOR

481-1 _ 581-142

SPEED

ADJUSTING

POTENTIOMETER , :> I]

281-87

580-97 581-152

Configuration of SERVOPACK Types CPCR-MR08C

to -MR99C,ServomotorandOptionalComponents

CONTENTS

1. RATINGS AND SPECIFICATIONS/4 4. INSTALLATION AND WIRING / 44

1.1 SERVOPACK RATINGS AND SPECIFICATIONS / 4 4. 1 INSTALLATION/ 44

1.2 SERVOPACK OVERLOAD CHARACTERISTICS / 6 4. 2 WIRING / 44

1.3 SERVOMOTOR RATINGS FOR SERVOPACK / 8 4. 3 POWER LOSS/ 47

1.4 SERVOMOTOR CHARACTERISTICS
FOR SERVOPACK / 9 5. DIMENSIONS in mm / 48

5.1 SERVOPACK / 48

2. CONFIGURATION / 13 5. 2 POWER TRANSFORMER/ 54

2.1 COMPONENTS / 13 5. 3 DC REACTOR / 54

2. 2 INTERNAL BLOCK DIAGRAM/ 14 5.4 RESISTOR UNIT (TYPE JUSP-RAO3) / 54

2. 3 EXTERNALTERMINALS / 19 5. 5 SPEED ADJUSTING POTENTIOMETER/ 54
5, 6 THERMAL OVERLOAD RELAY/ 55

3, OPERATION / 22 5. 7 REGENERATIVE UNIT

3. 1 POWER ON AND OFF / 22 (TYPES JUSP-RGO01 TO -RGO03) / 55

3. 2 SPEED REFERENCE/ 25 5.8 PROTECTION DEVICE (TYPE JESP-PT) / 55

3.3 BUILT-IN FUNCTION / 26

3.4 PRECAUTIONS FOR APPLICATION/ 31 6. ORDER / 55

3.5 PRECAUTIONS OF OPERATION / 33

3.6 CONNECTION DIAGRAM OF SERVOPACK / 35 7, SELECTION GUIDE/57
3, 7 APPLICATION/ 38 7.1 DYNAMICS FORMULA FOR

3.8 OPTIONAL COMPONENTS / 39 ELECTRIC FORCE / 57

7.2 SERVOMOTOR SELECTION GUIDE / 58

INDEX

Subject SectionNo. Page

A Allowable Frequency of Operation ..................... 1.4.2 • • • 9

APPLICATION ............................... 3.7 • • • 38

Auxiliary Input Terminal .......................... 3.2.4 • - - 26

B BUILT-IN FUNCTION ........................... 3.3 .... 26

C Coating (Varnish) Treatment ........................ 3.4.1 - • • 31

COMPONENTS ...................... '........ 2.1 .... 13

CONFIGURATION ............................. 2 ..... 13

CONNECTION DIAGRAM OF SERVOPACK .................. 3.6 .... 35

Current Monitor .............................. 3.3.7, . . 31

D DC REACTOR ............................... 5.3 .... 54

DIMENSIONS in mm ............................ 5 ..... 48

Display .................................. 3.3.6. • • 30

Driving Motor with Cooling Fan and Motor with Separate Excitation ..... 3.5.3 - - - 34

DYNAMICS FORMULA FOR ELECTRIC FORCE .............. 7.1 .... 57

E Emergency Stop Dynamic Braking (DR) Circuit ............... 3.7.2 • - - 38

External Base off Circuit .......................... 3.3.4 • . . 29

External Current Limiting Reference Circuit ................. 3.3.1 • • • 26

External Terminals for Components to be combined ............ 2.3.3 • • - 21

EXTERNAL TERMINALS .......................... 2.3 .... 19

External Terminals for Types CPCR-MRO1Cto-MR07C ........... 2.3,1 • • • 19

External Terminals for Types CPCR-MR08C to -MR99C ........... 2.3.2 • • • 20

H Handling of Speed Reference Input Terminal ................ 3.2.3 - - • 26

I INSTALLATION .............................. 4, 1 .... 44

INSTALLATION AND WIRING ....................... 4 ..... 44

INTERNAL BLOCK DIAGRAM ........................ 2.2 .... 14

2

INDEX (Cont'd)

Subject SectionNo. Page

L Load Inertia ................................ 3.4.6 • • 32

Location .................................. 4.1.1 • . 44

M Minus Load ................................ 3.4.2 - • 31

Motor Overload Protection ......................... 3.4.7 - • 32

Mounting ................................. 4.1.2. • .44

N Noise Treatment .......................... i i i 3.5.1 • . • 33

O OPERATION ................................ 3 ..... 22

OPTIONAL COMPONENTS ........................ 3.8 .... 39

ORDER .................................. 6 ..... 55

Overspeed Drive (O-S Drive) ....................... 3.3.8 - • - 31

Overtravel Preventive Circuit (Forward OFF, Reverse OFF Circuit) ..... 3.3.3 .... 28

P Power Line Protection ........................... 3.5.2. - • 34

POWER LOSS ............................... 4.3 .... 47

POWER ON AND OFF ........................... 3.1 .... 22

POWER TRANSFORMER ......................... 5.2 .... 54

PRECAUTIONS FOR APPLICATION .................... 3.4 .... 31

Precautions for Wiring ........................... 4.2.2 • • • 47

PRECAUTIONS OF OPERATION ........... : .......... 3.5 .... 33

Proportional Drive Reference Circuit (Complete Stop Reference Circuit)- • - 3.3.2- • - 27

PROTECTION DEVICE TYPE JESP-PT ................... 5.8 .... 55

Protection Device Type JESP-PT_-] .... "................. 3.8.1 • • • 39

Protective Circuit ............................. 3.3.5 • • • 29

R RATINGS AND SPECIFICATIONS ..................... 1 ..... 4

Regenerative Unit Type JUSP-RG ....... •.............. 3.8.2 • • • 42

REGENERATIVE UNIT TYPES JUSP-RG001 TO -RG003 .......... 5.7 .... 55

RESISTOR UNIT TYPE JUSP-RA03 .................... 5.4 .... 54

S SELECTION GUIDE ............................ 7 ..... 57

Selection of Cable Size........................... 4.2.1 • • . 44

SERVOMOTOR CHARACTERISTICS FOR SERVOPACK ............ 1.4 .... 9

Servomotor Frequency .......................... 1.4.3- • - 12

SERVOMOTOR RATINGS FOR SERVOPACK ................ 1.3 .... 8

SERVOMOTOR SELECTION GUIDE .................... 7.2 .... 58

SERVOPACK ................................ 5.1 .... 48

SERVOPACK OVERLOAD CHARACTERISTICS ............... 1.2 .... 6

SERVOPACK RATINGS AND SPECIFICATIONS ............... 1.1 .... 4

SERVOPACK Types CPCR-MR01C to -MR07C ................ 3.1.1 • • • 22

SERVOPACK Types CPCR-MR08C (W) to -MR99C .............. 3.1.2 - • - 25

Special Power Voltage ........................... 3.4.5 • - • 32

SPEED ADJUSTING POTENTIOMETER .................. 5.5 .... 54

Speed-Input Voltage Characteristics .................... 1.4.4 • • - 12

SPEED REFERENCE ........................... 3.2 .... 25

Speed Reference Circuit .......................... 3.2.1 • - 25

Starting and Stopping Time ........................ 1.4.1 • . 9

Stop Reference Circuit ........................... 3.2.2 • - 26

Switching Operation of Multiple Servomotors ................ 3.7.1 - - 38

T Tachometer Connection .......................... 3.7.4. • 39

THERMAL OVERLOAD RELAY ...................... 5.6 .... 55

Transformer for Multiple SERVOPACKs .................... 3.7.5 - - - 39

Type CPCR-MR_-_CL and Type JESP-PT[_L Application ........... 3.4.4 - • - 32

Type CPCR-MR[]CW Application ....................... 3.4.3 • • - 31

Types CPCR-MR01Cto-MR07C ...................... 3.6.1 • • - 35

Types CPCFI-MR08C to -MR55C ...................... 3.6.2 • - - 36

Types CPCR-MR75C,-MR99C ....................... 3.6.3. • -37

U Use of Servomotor with Holding Magnetic Brake .............. 3.7.3 • • • 39

W WIRING ............................ ...... 4.2 .... 44

3

1. RATINGS AND SPECIFICATIONS

1.1 SERVOPACK RATINGS AND SPECIFICATIONS

Table 1.1 SERVOPACK Ratings and Specifications

SERVOPACK Types CPCR- MR01 C MR01 CJ MR02C MR02CJ MR05C MR07C

Motor Output kW 0.1 max 0.1 0.2 0.2 0.5 0.77

Control Method Single-phase bridge rectifying (power transformer installed separately), transistorized PWM control

Main Voltage Single-phase, 200/220VAC +10% or 100/110VAC _10%, 50/60Hz ---1_5%

Power Circuit Capacity* kVA 0.3 0.3 0.5 0.5 1 1.5
Supply

Control Circuit Single-phase, 100/110VAC _+-_10%, 50/60Hz, 50VA (with power transformer installed separately)
Max Output VoItage (V MAx) VDC -----30 (at +-6A) --1,100 (at +-3A) ___45 (at +-7A) --1,100 (at _--+6A) +85 (at _8A) --1.80 (at +-13A)
Instantaneous Max Output _--t-15_+ 10% _+ 11 -+ 10% _+20_+ 10% ___15--1. 10% --1, 20 -t- 10% __.30--1, 10%

Current (IMAX) A
Continuous Output Current (I out) A --1.6 _--t-3 --1,7 + 6 _+ 8 --1,13

Current Limiting Range A +-3 to +-15 +1 to_+11 +-3 to +-20 +3 to +-15 +-3 to _20 +-6 to ±30
Waveform Factor 1.05 and below

Derating Factor 0.95 and below

Speed Control Range 1000 : 1

Load Regulation 0 to 100% 0.1% and below at rated speed, -t-0.05% and below at 1/1000 rated speed

Voltage Regulation --+10% --1,0.1% and below at rated speed, --1,0.02% and below at 1/1000 rated speed

Temperature Regulation --1,0.5% and below at rated speed, --1,0.1% and below at 1/1000 rated speed

25-+35°0

con- Tach-gen (TG) Temperature _0.05%/oC

Regulation

Rated Reference Voltage +-6VDC (forward running at plus reference)

-o _ - Resistance 20k_2+ 10%
u_ rr __ Circuit Time Constant 35/_s ___20%

Rated Reference Voltage --1.2 to -+ 10 V

"5 Resistance 3.3 k_l/V

Circuit Time Constant 45/_s and below

Speed Feedback DC tachometer generator feedback control (7V/1000r/min)
Built-in Reference Power Supply --1.12VDC, -+30mA

Ambient Temperature -- 10"C to +60°C (-- 10°C to +40°C in panel)
Storage Temperature --20°C to -t-60=C
Humidity 85% and below (non-condensing)

Print motor standard series, Minertia motor: 3 times motor inertia

Allowable Load Inertia Cup motor, Hi-cup motor, Minertia motor J series: 2 times motor inertia
*Forratedoutput Notes:

fused for application at a rated reference voltage other than -t-6 V. 1. Make sure that the power voltage is limited to less than 220 V +10 %

(242 V). For voltages higher than 220 to 242 V, use a step down trans-

Type Designation former to reduce the voltage.

C P C R - M R i_-][_-]C[_-] - [_-] 2. The drive characteristic of type CPCR-MR[]]C differs for Servopoc_$ and

"--_ T applicable motors as shown in Fig. 1.1 (a)and (b). The allowable

/

L

current-conduction time for the instantaneous rating depends on com-

_!ar_e_s_A_d Servomotor to be Applied binations with the applicable motor and is guaranteed only for time of

• Blank: Standard Motor (Cup Motor) start and stop (approx. ls or _ess) in the allowable inertia

:oi_rlo_i_ I/PWM See Table 1.2. range. An overload protection such as motor locking is therefore

rsing " J: Minertia Motor J Series (JM) necessary depending on the application conditions.

• M: Minertia Motor Standard
Series(MM) 3. When a servomotor is driven by thyristor drive units, the armature

• H: Hi-Cup Motor (HM) current generally pulsates, differing from that of battery-driven units.

• 08: 0.75kW •C: Cup Motor(CM) This reduces the average value (component to "produce torque) of ar-

• 15: 1.5 kW • P: Print Motor (PM) mature current when the motor rated current equals armature current

• 22: 2.2 kW (r/min), and therefore, it is necessary to reduce the rated torque for the

• 55: 5.5kW Optional motor.

• 75: 7.5kW

• 99: 9.9 kW • Blank: Standard type The reduction rate is termed the derating factor. The derating

• W_: Externally ventilating fan type factor of Servopacktype CPCR-MR[]]C is very excellent, 95 % or greater.

Design Revision Order • L: Built-in overload detection type Example: When type CPCR-MR[]C or 95 % derating factor is com-

- J: Overspeed drive type for JM bined with a motor of rated output 1.5kW(8.183N.m), the effective

• C: Second Revision • Y[]]: Special order output(torque) is1.5kW(8.183N.m) X0.95(14.25kW).
tType CPCR-MR[]]C and Type CPCR-MR[]]CW differ in the shapes and 4. In the speed control range, the lowest speed is defined under the con-

cooling systems. For ventilating construction with overload detection dition not stopped by 100 % load variation.
circuit, the type CPCR-MR[]]CWL is applied. 5. Speed regulation is generally defined as follows:

No load speed-- Full load speed

Speed regulation = × 100 96

4 Rated speed

MR08C MR15C MR22C MR55C
MR08CW MR15CW MR22CW MR55CW MR75C MR99C

0.8 1.5 2.2 3.7 5.5 6.0 7.5 6.2 9.9
Three-phase bridge rectifying, transistorized PWM control

Three-phase, 200 / 220 VAC 4- 10 %, 50 / 60 Hz 4- 5%

1.6 I 3.0 I 4.0 I 6.9I 9 I 10 I 13 I 10 I 17

Single-phase, 200/220VAC 4-10%, 50/60Hz, 50VA

_--+200(at -+7A) __.200 (at _+13A) 4-200 (at ___18A) _4-200 (at _30A) 4-200 (at _40A) 2:200 (at +55A)

--+60+10% --+55 -+75 -+120 4-100

4- 20 -+ 10% -+ 25 4- 10% 4- 40 4- 10%

(-+55_+10%) -+10% --+10% -+10% +10%

•+7 -+13 -+18 -+30 4-40 -+55

•+1.5 to -+20 -+2.5 to -+25 -+3.5 to _+40 -+6 to -+60 _+7to_+55 _+7to_+75 _+10to+_120 _+10to+_100

1.05 and below

0.95 or more
1000 : 1

0.1% and below at rated speed, +0.05% and below at 1/1000 rated speed

•+0.1% and below at rated speed, -+0.05% and below at 1/1000 rated speed

•+ 0.5% and below at rated speed, 4-0.1% and below at 1/1000 rated speed

-- 0.05 % / °C

•+ 6VDC (forward running at plus reference)
20k_ -+10%

0.5 ms 4- 20%

•+2 to -+10V

3.3k_/V

0.1 ms and below

DC tachometer generator feedback control (7V/1000r/min)

•+ 12VDC, -+ 30mA

--10°Cto 4- 60°C(--10°Cto 4- 40°Cin panel)

-- 20 °C to 4- 70 °C

85% and below (non-condensing)

Up to 3 times motor inertia / Up to 2 times motor inertia

Actually, however, the calculated resistance value is varied by am- 6. When housed in a panel, the inside temperature must not exceed am-

plifier drift due to voltage'and temperature fluctuations, and such an blent temperature range•

effect appears as a speed change. The percentage ratio of this speed 7. Type CPCR-MR[_]C is limited in its regenerative control capability and
change to the rated speed is the respective speed regulation due to therefore its load inertia is limited. (At a constant motor speed, the

voltage and temperature fluctuations, regenerative energy of the motor is proportional to inertia.) When

The speed regulation due to temperature fluctuation must con- the load inertia exceeds the allowable range, make sure to follow

sider the effect of TG temperature fluctuation. The TG temperature Par. 3.4.6 "Load Inertia" and 3.8.2 "Regenerative Unit Type JUSP-RG."

fluctuation, relating to the ratio to TG generation voltage, is not sig-

nificant at a low speed, but cannot be ignored when the speed is high.

OUTPUT CURRENT ALLOWABLE OPERATIONAL

OUTPUT CURRENT

(TMAX) ,MAX ,

, I (TMAX) _"._MOTOR

IMAXt ---- . IL ALLOWABLE OPERATIONAL <_ CURRENT RANGE OF

INSTANTANEOUS I\ H'"- CURRENT RANGE OF

'ouq RATING - i'k,_l_ MOTOR '^''_.IliNS'ANTANEO_S"_"_'_"_'""G, , _-_-_.

/R[CO_TNUO--UE !_'_ I'i IR CONTINUOUS iRATING i _-'1tl SPEED (OUTPUT VOLTAGE) CR_-AOilNG :; [--'_'_ SPEED (OUTPUT VOLTAGE)

NR/ N MAX: Depending on motors. Ni NFt N MAX: Depending on motors.

NI MAX ( V MAX) ( V MAX)

(a) Combination of Type CPCR-MR[]C (b) Combination of Type CPCR-MR[_]CJ,

and DC Servomotors (PM, CM, HM, MM) -MR[_.]C-J, and DC Servomotors (JM)

NR: Rated Motor Speed IR: Rated Motor Current lOUT: Continuous Output Current
NMAX: Maximum Drive Speed IMAX: Instantanious Maximum Output Current NiMAX: Instantaneous Maximum

(Maximum Output VoltageVMAX) (Instant&neousMaximum Torque TMAX) Torque Drive Speed

Fig. 1.1 Type CPCR-MR[_]C Drive Characteristic

5

1.2 SERVOPACK OVERLOAD CHARACTERISTICS

The allowable conduction time of CPCR-MR[?.C • Hot start: The overload characteristic when
is shwon in Fig. 1.2 (a) through (h). Servopack is running at the rated load and so

saturated thermally.

In Fig. i. 2, cold and hot starts mean the follow-

ing: •Ambient temperature: For thesedata,the ambient

• Cold start: The overload characteristic when temperature is 60°C. At lower ambient tempera-
tures, the allowable conduction time increases.

Servopack at the ambient temperature starts
to operate.

5000 5000

1000 100£

5OO

ALLOWABLE100_ ALLOWABLE10£ __"--. -_.

CONDUCTION CONDUCTION \, _"_

50_ TIME(s) 50 "_

TIME(s) _.

l HOT ST

10 _ 1£ ___

_OVERLOAD DETECT!ON_Z_EZZZZZ

5_LEVEL OF TYPES_ -_

_SP-PT101 L,-P _ _ -- OVERLOADDETECTION

T102L_ LEVELOFTYPE \

JESP-PT20'L\

1_ 10 15 20 J'S 10 20 30

LOAD CURRENT (A) LOAD CURRENT (A)

(a) Types CPCR-MR01Cand-MR02C (c) TypeCPCR-MR07C

100C

500

COLD START

ALLOWABLE ALLOWABLE10E

CONDUCTION CONDUCTION

TIME(s) TIME(s) 50

1C 10

5

DETECTION LEVEL
TYPE CPCR-MR08CL

5 10 15 20 1 10 15 20

LOADCURRENT(A) LOADCURRENT(A)

(b) Type CPCR-MR05C (d) TypeCPCR-MR08C

Fig. 1.2 Allowable Conduction Time of SERVOPACK

6

5OOO

1OO13 1OOOi

- _. COLpSTA_

"-4..

I OC _..

ALLOWABLE _%._. ALLOWABLE 10C _..

CONDUCTION _ CONDUCTION _ _.

HOTSTART _

I£ IC _,

OVERLOAD _,

- DETECTION _ OVERLOAD_

LEVELOETYPE_ _ DETECT,ON__ '

LEVELOFTYPE

CPCR-MRI5CL __ CPCR-MR55CL

1 _'10 15 20 25 1 _'30 40 50 60

LOADCURRENT(A) LOADCURRENT(A)

(e) Type CPCR-MR15C (g) Type CPCR-MR55C

5O00

1000500 1000500 t

_'_ COLD STAF

ALLOWABLE100 ALLOWABLE100 k '_

CONDUCTION CONDUCTION

TIME(s) 50 _ TIME(s) 50

\

" \

OVERLOAD DETECT'ION _ _"

OVERLOADDETECTION_ _ LEVELOFTYPE _

LEVELOFTYPE CPCR-MR75CL _

CPCR-MR22CL _ _

1

0 10 20 30 40 0-"20 30 40 50 60 70 75

LOADCURRENT(A) LOADCURRENT(A)

(f) TypeCPCR-MR22C (h) Type CPCR-MR75C

Fig. 1.2 Allowable Conduction Time of SERVOPACK (Cont'd)

,7

1.3 SERVOMOTOR RATINGS FRO SERVOPACK

Table 1.2 ServomotorRatingsfor SERVOPACK

DC Servomotor

SERVOPACK

Type Effective Rated Effective Instantaneous Effective Allowable Max Drive Max Torque

CPCR- Type Output Speed Rated Torque Max Torque Current Inertia Speed Drive Speed

kW r/min N-m N.rn A kg-m=xlO -" r/min r/min

UGPMEN-08 0.047 4000 0.114 0.451 4.9 1.175 5000 4000

MR01 C PMES-09 0.095 4000 0.225 0.745 5.5 1.375 4500 4000

UGPMEN- 09 0.095 4000 0.225 0.745 5.7 1.3 4500 4000

M R 01 CJ UGJMED - 10 M 0.095 1000 0.904 4.9 2.3 12 1700 100

PMES- 12 0.19 3000 0,603 2.156 6.4 4.5 3250 3000

MR02C

UGPMEN - 12 0.19 3000 0.603 2.156 6.6 4.8 3250 3000

MR02C-M UGMMEM-06 0.18 3000 0.559 1.96 6.2 2.85 3400 3000

UGJMED -40 M 0.152 1000 1.452 5.586 5.0 32 2100 700

MR02CJ

UGJMED -40 L 0.24 1000 2.272 7.546 5.6 40 2050 700
PMES - 16 0.47 2500 1.813 5.488 7.3 18.6 2550 2500

MR05C

UGPMEN- 16 0.47 2500 1.813 5.488 7.5 18.9 2550 2500
UGCMED-04 AA 0.37 1750 2.029 5.88 8.0 44.75 2300 1750

MR05C-C

UGCMEM-04 0.38 1750 2.078 5.88 8.0 46 2250 1750

MR 05C- H UGHMED-03 GG 0.24 1000 2.234 6.566 7.8 40.75 1850 1200
MR 05- M UGMMEM - 13 0.38 3000 1.205 3.528 7.4 4.25 3850 3000

M R 07 C* UGMMEM - 25 0.73 3000 2.323 5.488 13.1 8.5 3400 3000
MR 08C UGCMED-08AA 0.71 1750 3.881 13.132 6.7 132.5 2500 2000

MR 08CW UGCMEM -08GC 0.71 1750 3.881 13.134 6.4 108 2500 2000

UGHMED- 06 AA 0.57 1000 5.439 19.6 6.2 219 1600 1200

MR08C-H

UGHMEM -06AA 0.57 1000 5.439 21.56 5.5 163.75 1500 1200

MR08CW-H

UGHMED-06GG 0.49 1000 4.655 15.974 6.5 99 1800 1200

MR08C-J

UGJMED- 60 MA 0.43 1000 4.096 17.64 6.0 132 1800 1000

MR08CW-J
MR 15 C UGCMED- 15 AA 1.43 1750 7.771 19.6 11.2 303 2250 2000

MR15CW UGCMEM-15GC 1.43 1750 7.771 18.13 11.9 255 2400 2000
M R 15 C- P PM ES - 20 0.95 3000 3.018 9.996 8.3 61 3900 3600

UGHMED - 12AA 1.14 1000 10.898 28.42 10.6 402 1450 1200

MR15C-H

UGHMEM- 12AA 1.14 1000 10.898 29.106 10.0 260 1450 1200

MR15CW-H

UGHMED-12GG 1.14 1000 10.898 28.42 10.6 402 1450 1200

MR15C-J UGJMED-60L 0.81 1000 7.713 21.56 11.0 189 1700 1000
MR15CW-J UGJMED-80M 1.05 1000 9.967 25.48 11.5 420 1700 1000

MR15C-M

UGMMEM -50 AA 1.46 3000 4.655 10.486 12.1 27 4000 3000

MR15CW-M
MR22C UGCMED- 22AA 2.09 1750 11.456 30.38 16.1 456 2350 2000

MR 22CW UGCMEM-22GC 2.09 1750 11.456 29.106 17.2 369 2400 2000

UGHMED-20AA 1.90 1000 18.159 49 16.6 876 1400 1200

MR22C-H

UGHMEM-20AA 1.90 1000 18.159 46.256 16.9 708 1450 1200

MR22CW-H

UGHMED -20GG 1.71 1000 16.297 45.08 16.2 702 1500 1200

MR22C-J

UGJMED- 80 L 1.54 1000 14.671 39.2 18.0 735 1700 1000

MR22CW-J

UGCMED- 37 AA 3.52 1750 19.179 48.02 27.0 596 2250 2000

MR55C

UGCMEM -37 FB 3.52 1750 19.179 45.472 27.6 750 2400 2000

MR55CW

UGCMED- 55 AA 5.23 1750 28.489 63.504 30.0 946 1750 1750

UGHMED- 30 AA 2.85 1000 27.185 70.756 23.3 988 1300 1000
MR55C" H UGHMEM -30AA 2.85 1000 27.185 66.346 24.2 788 1450 1200
MR55CW-H UGHMED-30GG 2.74 1000 26.068 73.99 21.0 730 1250 1000

UGHMED -44AA 4.18 1000 39.847 94.472 24.7 2276 1000 1000
MR55C-J

UGJMED - 80 K 2.47 1000 23.745 77.028 23.0 670 1450 650
MR55CW-J

MR55C-M

UGMMEM - 1 AA 2.93 3000 9.31 24.5 24.9 50.5 4000 3000
MR55CW-M

MR 750 UGCMFD- 75 AA 6.92 1750 37.701 78.4 40.0 1446 1750 1750
MR 75 C - H UG HMFD -60 AA 5.70 1000 54.37 98.98 33.6 2276 1000 1000
MR 99C GEELM- K 9.14 1750 47.784 98 53.5 1000 1750 1750

MR99C- M UGMMKR -2 AA 5.86 3000 18.62 45.08 54.1 105 4000 3000

*Specifications are the same as those for type CPCR-MR08. 5. For the details of combination of types CPCR-MR75C-H and UGHMFD

Notes: -60, contact the company.

1. Motors in _ are applied to Servopac_with standard adjustment. 6. In the combination of CPCR-MR99C and GEELM-K, the rated speed

2. The instantaneous maximum torque means the motor-generated torque differs from the rated speed of the motor.

when the Servopock is at the maximum instantaneous output current, 7. Motor types PM: Print motor standard series, JM: Minertia motor
when Servopockand a servomotor are combined for start and stop op- J series, MM: Minertia motor standard series, CM: Cup motor, HM:
erations(Fig.1.2). Hi-Cupmotor

3, The maximum drive speed is the speed that can be driven at the rated 8. Allowable inertia is the value at rated motor speed or below. When

motor torque or below, operating speed exceeds rated speed, the values of allowable

inertia are smaller than those listed in the table above.

4. The instantaneous maximum torque drive speed is the maximum speed

available at the instantaneous maximum torque (Fig. 1.2).

1.4 SERVOMOTOR CHARACTERISTICS FOR __STARTING

TIME (tr) //p= 100%

SERVOPACK

..... STOPPING / _=1

120 TI/

1.4.1 Starting and Stopping Time 100

The starting time and stopping time of servomotor 80
under a constant load is shown by the formula TIME

below• Viscous or friction torque of the motor (ms)60 _" i Ip=150%

is neglected. 40 _ _ _=15

Starting Time: 20 "-_ 100%

...... , s__o_....... _ IP=300%

............ 300='o-- ---- _= 3

I I

NR (JM + JL) (ms) 0 0'2 0!4 06 0.8 110

tr= 104.7 × Kt IR (a--#)

LOAD CURRENT COEFFICIENT _ .

Stopping Time: (a) Combination of SERVOPACK Type CPCR-MR02C-M

and Servomotor Type UGMMEM-06AA1

NR(JM + JL) (ms)

tf= 104. 7 X Kt IR (_-}-/_) STARTING

--rIME (t,)

STOPPING

..... TIME (tf)

Where, 200 /Ip= 100%

NR: Rated motor speed (r/min) _ _=I
JM: Motor inertia (kg.m z) 150

TIME

EL : Load inertia converted to the motor (ms)100

shaft. (kg .m z) . _ IP=150°/0

Kt " Torque constant of motor (N.m/A) 5[ ___ 100%__.... Ip=300%

- - "-'--22 -"- - ---------- -_ 150%_= 3

IR : Motor rated current (A) 300%

=Ip/In" Acceleration/deceleration current 0'2 014 016 0'8 110

constant LOAD CURRENT COEFFICIENT fl

Ip ; Acceleration/deceleration current (b) Combination of SERVOPACK Type CPCR-MR15C-H

(Acceleration/deceleration current _ times and Servomotor Type UGHMED-12AA

the motor rated current) (A) Fig. 1.4 Motor Starting and Stopping Time

l_ = IL/IR : Load current constant

IL : Current equivalent to load torque

(Load current /3 times the motor rated 1.4.2 Allowable Frequency of Operation

current) (A) The allowable frequency of operation is restricted

by the servomotor and Servopack, and both the

_-_ I conditions must be considered for satisfactory

MOTOR - a op eration.

ARMATURE " TIME
CURRENT I tr .lt, I I &t (i) Allowable Frequency of Operation restricted

i lI,!I I by the Servopack

I The allowable frequency of operation is restricted

_ by the heat generated in the regenerative resistor

I

MOTOR ,/" N I TIME in the Servopack and varies depending on the

SPEED

motor type, capacity, load inertia, acceleration/

Fig. 1.3 Timing Chart of deceleration current values , and motor speed.

Motor Armature Current and Speed Figs. 1.5 to 1.7 show the allowable frequency

of operation when Servopack is combined with

Fig. 1.4(a) shows the starting and stopping servomotors such as Cup Motor, Hi-Cup Motor or

time when Servopack type CPCR-MR02-M is com- Minertia Motor.
bined with servomotor type UGMMEM-06. Fig.l.4 The values in Figs. 1.5 to 1.7 are shown when

(b) shows the starting and stopping time when load inertia is 0. When load inertia is m times of

Servopack type CPCR-MRIEC-H is combined with 1
servomotor type UGHMED-12AA motor inertia, the frequency is __ times the

• m+l

The values shown in Fig. 1.4 are measured value in the figure. If load inertia exceeds three
when operating motor at no load (JL = 0). When times the motor inertia or if the combination of
JL is equal to JM , the starting and stopping time Servopack type CPCR-MR 99C and industrial DC
is twice the value in Fig. 1.4. When JL is double motor type GEELM-K is applied, contact your
JM , the starting and stopping time is three times Yaskawa representative.
the value in Fig. 1.4.

9

1.4.2 Allowable Frequency of Operation (Cont'd)

IIIllll ,. l

FREQUENCY FREQUENCY 100 FREQUENCY
OF OPERATION 100 OF OPERATION ?_ OF OPERATION 100

(TIMES/MIN) ' : : : : (TIMES/MIN) (TIMES/MIN)

I['Mi

i i i i i

, , 011 I I I I I I 11 I I I oIL___J_

0 1000 '20()0 500 1000 1200 1000 2000 3000

MOTOR SPEED (r/rain) MOTOR SPEED (r/rain) MOTOR SPEED (r/min)

(a) Combination of Type CPCR-MR08C (a) Combination of Type CPCR-MR08C-H (a) Combination of Type CPCR-MR15C-M

andType UGCMED-08 andTypeUGHMED-06 andTypeUGMMEM-50

•t

ALLOWABLE ALLOWABLE ALLOWABLE
FREQUENCY 100 FREQUENCY _-'.C'/,_,¢,_ FREQUENCY tnn

OF OPERATION OF OPERATION 100 OF OPERATION .v_
(TIMES/MIN) (TIMES/MIN) (TIMES/MIN)

I I"_]
I111 o_

1000 2000 500 1000 1200 1000 2000 3000

MOTOR SPEED (r/rain) MOTOR SPEED (r/min) MOTOR SPEED (r/rain)

(b) Combinationof TypeCPCR-MR15C (b) Combinationof TypeCPCR-MR15C-H (b)CombinationofTypeCPCR-MR55C-M

and TypeUGCMED-15 andTypeUGHMED-12 andTypeUGMMEM-1Aor Type

CPCR-MR99C-MandTypeUGMMKR-2A

200 ____ 200 \i__ Fig. 1.7 AIIowableFrequencyof

I I I ! OperationofCombinationof

ALLOWABLE III I I\_\_1 I II ALLOWABLE SERVOPACK and Minertia Motor

FREQUENCY 1_)0 ! ___ FREQUENCY _,

OF OPERATION OF OPERATION 100
(TIMES/MIN) (TIMES/MIN)

I r'-L'- (2) Allowable Frequency of

I I I b4"i I ] ] ] " Operation restricted by the

0 Servomotor

1000 2000 500 1000 1200

MOTOR SPEED (r/min) MOTOR SPEED (r/rain)

The allowable frequency of operation

(c) Combination of Type CPCR-MR22C (c) Combination of Type CPCR-MR22C-H

and TypeUGCMED-22 andTypeUGHMED-20 varies depending on the load condi-

tions, motor running time and the

200 II_l III I I 2OO_[_[_[Z[Z[_E_ operating conditions. Typical exam-

I I I Ill_l plesareshown below. SeePar. 1.4.1

iI I I I___I [ II] __ "Startingand Stopping Time" for

ALLOWABLEFREQUENCY10£ ! c:_O_,__G,_!_, ALLOWABLEFREQUENCY _ symbols.

OF OPERATION OFOPERATION 100

(TIMES/MIN) C_--_-_ (TIMES/MIN) " When motor repeats rated-speed

i i i i [ i-_]_ [ operation andbeing at standstill.

0_ Cycle time (T) should be deter-

1000 2000 500 1000 1200

MOTOR SPEED (r/min) MOTOR SPEED (r/min) mined so that RMS value of motor

(d) Combinationof TypeCPCR-MR55C (d)CombinationofTypeCPCR-MR55C-H armature current is lower than the

andType UGCMED-37 andTypeUGHMED-30 motor rated current:

I-H-__ r__ ip2 (t_+i_tf) +1_,ts (s)

ALLOWABLE ALLOWABLE _ O.

FREQUENCY 10(] FREQUENCY100 Where cycle time (T) is determinedOF OPERATION OF OPERATION

(TIMES/MIN) (TIMES/MIN) I I ,'_b.,_! ! values Ip, tr, tf satisfying the formula

_i_ above, should be specified.

0

1000 2000 500 1000

MOTOR SPEED (r/min) MOTOR SPEED (r/rain) MOTORARMATUREt |_t

(e) Combinationof TypeCPCR-MR55CandType UGCMED-55or Type (e) Combinationof TypeCPCR-MR55C-HandTypeUGHMED-44 CURRENT ] ___J ,_ TIME

CPCR-MR75Cand Type UGCMFD-75 , , : : , , ; '

Fig. 1 5 Allowable Frequency of Fig. 1.6 Allowable Frequency of SPEEO

• TIME

Operation of Combination of Operation of Combination of

SERVOPACK and Cup Motor SERVOPACK and Hi-Cup Motor Fig. 1.8 Time Chart of Motor

Armature and Motor Speed

10

• When the motor remains at standstill between • When the motor accelerates, runs at constant

cycles of acceleration and deceleration without speed, and decelerates in a continuing cycle
continuous rated speed running, without being at standstill.

The timing chart of the motor armature current The timing chart of the motor armature current
and speed is as shown in Fig. i. 9. The allowable and speed is as shown in Fig. i. ii. The allow-

frequency of operation "n" can be calculated as able frequency of operation "n" can be calculated

follows : as follows.

Kt "IR Kt • IR

n = 286.5 X NR (JM + JL) X n = 286.5 X Nn (JM + JL) X

(i/___fl_/_3) (times/min) (i/_--fl 2 /_) (times/min)

Fig. 1.10(a) and (b) indicate allowable frequency Fig. 1.12(a) and (b) indicate allowable frequency
of operation of Minertia Motor type'UGMMEN-06AAI of operation of Minertia Motor type UGMMEN-06AAI
and Hi-Cup Motor type UGHMED-12AA, respectively, and Hi-Cup Motor type UGHMED-12AA, respectively.

The values in Fig. i.i0 are measured when The values in Fig. 1.12 are measured when

operating motor at no load. When JL is equal to operating motor at no load. When JL is equal to
JM , the frequency is half of the value in the figure. JM , the frequency is half of the value in the figure.
When JL is twice of JM , the frequency is one-third When JL is twice of JM , the frequency is one-third

of the value in the figure, of the value in the figure.

MOTOR --7 _

ARMATURE ! I j t : f - T,ME MOTOR

CURRENT Ii ARMATURE f TIME

I I'_i I_ l CURRENT Ill

' ' i I I l I I

l , MOTOR I / _f k I / k I __

MOTOR T,ME SPEED/" "I V X,;4. T,ME

SPEED

Fig. 1.9 Timing Chart of Fig. 1.11 Timing Chart of

Motor Armature Current and Speed Motor Armature Current and Speed

1000 _ _ i __._1 1000%

p=100%

800 - Ip= 150% \ ,.-,,:1 800 Ip: 100%

,,,ow,

FREQUENCY 600 /p=_ FREQUENCY 600_

OFOPERATION OFOPERATION
(TIMES/MIN) (TIMES/MIN)

400 Ip= 300% _._

400

200 200

0 I I I I I 0

0.2 0.4 0.6 0.S 1.0 0.2 0.4 0.6 0.8 1.0

LOAD CURRENT COEFFICIENT fl LOAD CURRENT COEFFICIENT fl

(a) Minertia Motor Type UGMMEM-06AA1 (a) Minertia Motor Type UGMMEM-06AA1

300 300

Ip= 100%

_'=1 = 100%

ALLOWABLE 200 ALLOWABLE 200 = "

FREQUENCY __ FREQUENCY _

OF OPERATION /p=200% a'=2 _.._ OF OPERATION

(TIMES/MIN)

(TIMES/MIN) /p= 300% _ _

100 _ 100

0 _ _ _ T _ 0

0.2 0.4 0.6 0.8 1.0 0.2 0.4 0.6 0.8 1.0

LOAD CURRENT COEFFICIENT /3 LOAD CURRENT COEFFICIENT/3

(b) Hi-Cup Motor Type UGHMED-12AA (b) Hi-Cup Motor Type UGHMED-12AA

Fig. 1.10 Allowable Frequency of Operation Fig. 1.12 Allowable Frequency of Operation

11

1 4.3 Servomotor Frequency SPEED

• (r/rain)

In the servo drive consisting of Servopack and RATED [_________

servomotor, motor speed amplitude is restricted SPEED(+) .......,

2500TO ',

by the maximum armature current controlled by 4000* i

Servopack. (a)CombinationofSERVOPACK

and Print Motor

l T I I

--6--4--'2,_0 2 4 6

The relation between motor speed amplitude (N)

and frequency(f )is shown by the formula below: / ] INPUT VOLTAGE (V)

/

I

_X Kt X IR Jr/mini L/_..... _ RATEDSPEED(--)

N = 1.52 (J'_w+ .]L) f _ --2500TO4000*

Fig. 1.14 shows servomotor frequency of Hi- "variesdependingon motortype.

Cup Motor type UGHMED-12AA. The values in I
Fig. 1.14 are measured when operating motor at SPEED17501

no load. When JL is equal to JM , the speed is half (r/rain)i000_/ :

of the value in the figure. When JL is twice of JM , (b)Combinationof SERVOPACK
the speed is one-third of the value in the figure, andCupMotor i 1 c )tI ! I I

--6--4--2/10 2 4 6
! / I INPUT VOLTAGE (V)

MOTOR
ARMATURE

t CURRENT

SPEED'000 --//----Yi

(r/min) l / ;

MOTOR (C) CombinationofSERVOPACK 5oo-1-/

t SPEED and Minertia Motor J Series

or Hi-CupMotor i i i Y i I r

--6--4--2/10 2 4 6

Fig. 1.13 Timing Chart of _ / IINPUTVOLTAGE(V)

Meter Armature Current and Speed i/ 1- 5o0 -

_---- ---1-_1000

100G

MOTOR 10(] _

Ip=300% SPEED 3000 -------_.....

SPEED N (r/rain) 2000-_ / i

(r/rain) Ip=200%

/p=lOOO/o (d) Combinationof SERVOPACK

lc and MinertiaMotor looo_

/ i

/

I

StandardSeries _ _ t_ : _

--6_--4--2J--4--2 0 2 4 6

1 , i _ /i / ---1000 INPUT VOLTAGE (V)

•0 3 1_0 30 100 ---2000
FREQUENCY f (Hz) il______ _ --3000

Fig. 1.14 Servomotor Frequency

of Hi-Cup Motor Type UGHMED-12AA

Fig. 1.15 Speed--Input Voltage Characteristics

Adjustable with

1.4.4 Speed-Input Voltage Characteristic RATED SPEED (+) -_,__/_--_1-',.... I

Fig. I.15 shows motor speed and input voltage /_<_///" i
curve when speed reference input terminals ICN-

(_)and (_) are used. -'10J8-_s-'4-_2 4 6 8 _0

I

When the auxiliary input terminals (_) and _) _ / INPUT VOLTAGE(V)

',' _l_

are used, by adjusting Servopack [FN2_, the

, I

rated speed can be obtained by input voltages RATEDSPEED(--)
of --+2 to + 10 V (Fig. 1.16).

The forward motor rotation (+) means counter-

clockwise rotation when viewed from the drive Fig. 1.16 Speed--Input Voltage Characteristic
end (Forward motor rotation is given by connec- when Auxiliary Input Terminal

tion as shwon in Figs. 2.1 to 2.5.) (_)and (_) are used.

12

2. CONFIGURATION

2.1 COMPONENTS

Table 2.1 shows optional components to be com-
bined with Servopack.

Table 2.1 Combination of SERVOPACK and Servomotors

and Optional Component

Optional Components to be Combined

SERVOPACK Servomotor Thermal Power DC Speed Magnetic Protection Regen- Magnetic

Type TypewithTG Adjusting

CPCR o (7V/1000 r/min) Overload Transformer Reactor Potentiometer Contactor Device erative Field Power

Relay Type Type Type Type Type Type Unit Unit Type

UGPMEN-08 RHP-15/4.9

CPT8585 JESP JUSP

MR01C PMES-09

RHP-15/5.7 (300 VA) -PT101 (L) -RG003

UGPMEN-09

MR01CJ UGJMED-10M RH-18/2.2PV CPT8589 JESP JUSP

(300 VA) -PT2OI(L) -RGOO1

PMES-12

MR02C RHP-15/6.6 CPT8624 JESP JUSP

UGPMEN-12 (500VA) -PT102(L) -RG002

MR02C-M UGMMEM°06 RH-35/6.2HV

UGJMED-40M RH-18/5.0PV CPT8630 JESP JUSP

MR02CJ UGJMED-40L RH-18/5.5PV (500 VA) -- HI-10E -PT202(L) -RG001

PMES-16 JESP

MR05C RHP-15/7.5

UGPMEN-16 -PT203(L)
UGCMED-04AA JESP

CPT8660 -PT203(L)-C JUSP
MR05C-C UGCMEM-04GC RH-35/7.8HV (1 kVA) -RG001
MR05C-H UGHMED-03GG JEESP

-PT203(L)-H

MR05C-M UGMMEM-13 RH-35/6.9HV Jl=SP

-PT203(L)-M

PT866

MR07C UGMMEM-25 RH-35/12.5HV _;1.5kVSA_ JESP

-PT204(L)

UGCMED-08AA RH-35/6.9HV

MRO8C(W)

UGCMEM-08GC RH-35/6.2HV
UGHMED-06AA RH-35/6.2HV X3055

MR08C(W)-H UGHMEM-06AA RH-35/5.5HV (10mH8A)

UGHMED-06GG RH-35/6.2HV

MR08C-J UGJMED-60MA RH-35/TT

UGCMED-15AA
MR15C(W) UGCMEM-15GC RH-35/11.5HV
MR15C-P PMES-20 RHP-1 5/8.3F 25HP-10B --

UGHMED-12AA RH-35/10.5HV 2 k£

X3056 HI-15Es

MR15C(W)-H UGHMEM-12AA RH-35/10HV -- i(10mH13A)

UGHMED-12GG RH-35/10.5HV
UGJMED-60L RH-35/15T1

M R15C(W)-J

UGJMED-80M RH-35/15T2

MR15C(W)-M ' UGMMEM-50AA RH-35/12.5HV

IMR22C(W) UGCMED-22AA RH-35/17HV

UGCMEM-22GC RH-35/17.5HV
UGHMED-20AA RH-35/17HV X3057

MR22C(W)-H UGHMEM-20AA RH-35/17.5HV (10mH18A)

UGHMED-20GG RH-35/_ 6HV

MR22C(W)-J UGJMED-80L RH-35/26T

UGCMED-37AA RH-35/27HV

MR55C UGCMEM-37FB RH-35/28HV

UGCMED-55AA RH-35/30HV 3.7 kW or

below:

UGHMED-30AA RH-35/23.5HV X3058 HI-18E

MR55C(W)-H UGHMEM-30AA RH-35/24.5HV -- (10mH28A)

UGHMED-30GG RH-35/21HV 3.7 to
UGHMED-44AA RH-35/24.5HV 5.5 kW:

MR55C(W)-J UGJMED-80K RH-35/30T HI-25E
MR55C(W)-M UGMMEM-1AA RH-35/24.5HV 5.5 to

I MR75C UGCMFD-75AA RH-35/41.2HV X3066 11 kW:

MR75C-H UGHMFD-60AA RH-35/33HV (10mH40A) HI-35E
MR99C GEELM-K X3067 Regenerative

-- resistorunit NP A- M

MR99C-M UGMMKR-2AA RH-35/53HVW (10mH55A) JUSP-RAO3 -2_)_1_H_-"_1

Notes: 4. When ordering,see Par. 6. "Order."

1. Servopocks in _ are standard products.

2. Thermal overload relay,RH-35/,:_]HVcomesattachedto the 5. Whenpower supply100/110VAC isusedfor CPCR-MR07C,
motor. Others mustbe procuredseparately, usemagneticcontactor,HI-15E.

3. For CPCR-MR99C and CPCR-MR99C-M,the regenerative

resistorunitmustbe installedseparately. 13

2.2 INTERNAL BLOCK DIAGRAM

POWER SUPPLY
SINGLE-PHASE

200/220 VAC, 100/110 VAC

+_10o , 50/60 Hz POWER

[i POWE ON,TH°'

^_ r---'m 1 MC 1 Ry

_

_ L._ --I SURGESUF_%SS_NG SURGESUPPRESgNGMC c_'_cE t _ DEVI¢

t THERMAL OVERLOAD

RELAY 1 THR

I .... I _. I

1X

1 MC- :1 MCpowE R

TRANSFORMER I 1-2 6 5

1 FU

1Tr

2C DCSERVOMOTOR

1 DB

, I

2R

,,

U22 ,,

V21( (+)

c_ 7-- DC TACHOMETER

& &

GENERATOR ITG)

...... 2 C'--_ 2 CN 7 V/(1000 r/min)

+12V(+30mA) 10 CONTROL

0V 11 POWER

--12V (--30 mA) 12 /I_ [F0wE_

V[_-] -12V

3CR 3ml

SPEED REFERENCE

(0 V) ] (SEE PAR 3.2.1.)

PROPORTIONAL
DRIVE REFERENCE 37 VR 11VR +6 V

(WITH I CR ON)

(SEE PAR. 3.3.2.)

I

!

1 CRI_

PWM

GENERATOR

_r

I

I
I

FWD_2mA 13 VR_

OVERTRAVEL PREVENTION 13( IRVS EXTERNAL
(BASEOFFWITHTERMS. 4. CURRENTLIMIT

5-6 OR TERMS. 5-7 OPEN) 1;( I FWD (SEE PAR. 3.3.1 .)
(SEE PAR. 3.3.3.)

I

4CR 3mA 1Tr TO4Tr -- i

•_, -- _ DRIVE 2 CN
CIRCUIT I

(ov) i

OFF OV.OCDETECTION/

EXTERNAL BASE ; _ti'_'_"_ I ._1(WITH 4 CR ON) " I

(SEE PAR. 3.3.4.) 1 PWB (TYPE CPCR-MR-CA;,:]Ci

......... ] -4_CN- -- -I

Notes:

1. Terminals (_ and (_ are normally open contact. They are different from terminals
(_) and _) (normally closed contacts) of the previous types (CPCR-MR01 to oMR05),

2. Thermal overload relay is directly connected to terminal (_)and the motor in series. Pre-

vious types (CPCR-MR01 to °MR05) have connection terminal (_).

3, Terminal (_) is not connected internally. In the previous types (CPCR-MR01 to -MR05)

it is common toSG OV.

4. O.S drive works only for type CPCR-MRE]CJ.

Fig. 2.1 InternalBlock Diagramof SERVOPACKTypes

CPCR-MR01C to -MR05C

14

POWER SUPPLY
SINGLE-PHASE

200/220 VAC,
100/110 VAC _+10%

50160 Hz POWER

POWER ON 1THR

OFF _.1_ 1 MC 1 Ry

1 MC _URGESUPPRESSING

DEVICE

t THERMALOVERLOAD

RELAY 1 THR

I ' I

1MC" -1MCpowER 1X

TRANSFORMER 1"---"2-6--.o5

1 FU

1 PTU I

DC SERVOMOTOR

1D

1 DB

2R

I

U2: I

i

V_,( (÷)

& r&, DCTACHOMETER

GENERATOR (TG)

F j _ 7 V/(1000r/min)

r t- -_ ''" 2CN

+12V (+30 mh 10 CONTROL

0V POWER

--12V (--30 mA) 12 -'.._ rPOW_

PROPORT,ONA" _

DRIVE REFERENCE

WITH 1 CR ON) V_-] ÷12VSEE PAR. 3.3.2.)

3 CR 3 m,._A

(_)--_--o-- --

(0 V) SPEED REFERENCE

J (SEEPAR.3.2.1.)

7VR 0TO_+6V

3 11VR

r---l" -- -- --
I I

I PWM 5VR

1 ca J(_ GENERATOR

i
I
i
I__

FWD_ 3VR_ _(_

2 mA

OVERTRAVELPREVENTION 13
(BASE OFF WITH i(_ RVS EXTERNAL

TERMS.5-6OR CURRENTLIMIT

TERMS,5-7OPEN) 144
(SEE PAR. 3.3.3.) I ' FWD (SEE PAR. 3. 3.1.)

4CR 3mA 1TrTO4Tr -- /

DRIVE / 2 CN

o

CIRCUIT

(0 V)

EXTERNAL BASE OFFi 0

Iv,0_

I

(SEEPAR.3.3.4.) t PWB(TYPECPCR-MR-CAi_TC]

J

I .......... 4ON ....... :]

Notes:

1. Terminals (Q and (_ are normally open contact. They are different from terminals
(_ and (_) (normally closed contacts) of the previous types (CPCR-MR01 to -MR05).

2. Thermal overload relay is directly connected to terminal (_ and the motor in series. Pre-
vious types (CPCR-MR01 to -MR05) have connection terminal (_.

3. Terminal (_ is not connected internally. In the previous types (CPCR-MR01 to -MR05)
it is common to SG 0V.

4. O.S drive works only for type CPCR-MR_._CJ.

Fig. 2.2 Internal Block Diagram of SERVOPACK Type CPCR-MR07C

15

2.2 INTERNAL BLOCK DIAGRAM (Cont'd)

2.3 EXTERNAL TERMINALS

2.3.1 External Terminals for Types CPCR-MR01Cto-MR07C

Table 2.2 External Terminals for Types CPCR-MR01C to -MR07C

TerminalSymbol Name Description

(_) _ Main Circuit Power Input Connected to terms. Ul/Vl of secondary side of power transformer.

_ Control Circuit Power Input Connected to terms, u2/v2 of secondary side of power transformer.

(_) ® Thermal Relay and Connects term. (_) to motor term. (_, and term. ® of thermal relay

Motor Connection (connected in series) to motor term. ®.

Main Circuit

Connected to term. P/N of regenerative processing unit type JUSP-

(_) (_) Optional RG [-].

@ @ Alarm Output Detects main circuit fuse blown-out or fin overheat (only for type

CPCR-MR07C). Normally open, 220VAC at 1A.

(_ (_) Speed Reference Input (_ is at SG 0V. The rated forward rotation is given at 4-6 V.
(_) (_ TG Input (_) is at SG 0V. Connect TG(--) to _) and TG(+) to (_.

Used to provide the rated speed at voltages (4-2 to 4-10 V) other than

(_ (_) Auxiliary Input the _--t-6V rated reference voltage.

Overtravel Base off at Reverse-side base off with open across (_) and (_.

(_ (_) Reverse Running Used with a limit switch.

Overtravel Base off at Forward-side base off with open across (_ and (_).

(_ _Z) Forward Running Used with a limit switch.

(_) O Proportional Drive (_ is at 0 V. Proportional drive when shortcircuiting across (_) and

Control Circuit (_) At this time, set the speed reference to 0 V.

is at 0V,(_at 4-12V, and @ at --12 V. 30mA can be supplied.

@ (_) _+12 V Power Output Used for speed setting, etc..

External Current Limiting at Used to limit the current from external at reverse running.

(_) @ Reverse Running

External Current Limiting at

(_ Forward Running Used to limit the current from external at forward running.

(_ @ External Base off O is at 0 V. Shortcircuiting across (_) and (_) breaks bases at forward

and reverse running.
This is a free terminal to be used for shielded wires for TG and input

(_ Grounding or as a junction terminal for grounding.

19

2.3.2 External Terminals for Types
CPCR-MR08C to -MR99C

Table 2.3 External Terminals for Types CPCR-MR08C to -MR99C

TerminalSymbol Name Description

® O O Main Circuit Power Input Three phase 200/220 VAC _+10 %, 50/60 Hz

(_) Q Control Circuit Power Input Single phase 200/220 VAC _+10 %, 50/60 Hz
© (_ DC Reactor and Thermal Connects DC reactor to thermal overload

((i_) ([_)'_) Overload Relay Connection Relay in series

Main Circuit Connects terminal _) to motor terminal (_), and terminal @) to motor

® (_) Motor Connection

terminal ®.

Regenerative Resistance Used as the internal junction terminal of the regenerative resistor

(L_ (_) Junction Terminal unit. Cannot be connected from the outside t.

Thermo Switch Junction Used for only CPCR-MR55C(W) to -MR99C shortcircuiting across

( (_ (_) Terminal (_)-(_) externally. Cannot be connected from the outside.

(_ (_) Speed Reference Input (_ is at SG 0V. The rated forward rotation is given at _+6 V.
_) _) TG Input (_) is at SG 0V. Connect TG(--) to (_) and TG(+) to (_.

Used to provide the rated speed at voltages (+ 2 to _+ 10V) other than the

(_) (_) Auxiliary Input rated reference voltage, +6V.

Overtravel Base off at Forward-side base off when shortcircuiting across (_ and _).

_) (_) the Forward Running Used with a limit switch.

Overtravel Base off at Reverse-side base off when shortcircuiting across (_) and (_).

_) (Z) the Reverse Running Used with a limit switch.

(U) is at 0 V. Proportional drive when shortcircuiting across (_ and

(_) (_) Proportional Drive @. At this time, set the speed reference to 0 V.

@is at 0V,@at +10V, and@at --12V. 30mA can be supplied.

@ @ @ -+12V Power Output Used for speed setting, etc.

Control Circuit External Current Limiting at

_) @ the Reverse Running Used to limit the current from external at reverse running.

External Current Limiting at

(_) (_ the Forward Running Used to limit the current from external at forward running.
_) @ Current Monitor @ is at 0 V. Armature current is observed at @.

Terminal to output servo trouble.

@ @ @ Servo Trouble Output 1NONC contact ((_: NC, @: common, (_: NO)

Current capacity: 100/200 VAC 1 A, 24 VDC 1 A

(_ @ External Base off @ is at 0 V. Shortcircuiting across (_) and (_) breaks bases at the

forward and reverse running.

(_ @ Optional Not used.

This is a free terminal to be used for shielded wires for TG and input or

(_ _ Grounding

grounding.

"_Onlyfor CPCR-MR75Cand-MR99C. Note: Do not use empty terminals to connect the external cir-
tOnly for CPCR-MR99C, separateregenerative resistor unit cult (some unused terminals may be used in product modifica-

JUSP-RA03 is connected (Fig. 3.23). tion, so reserve them for possibleServopockreplacement).

20

2.3.3 External Terminal for Components (3) DC Reactor Terminals
to be combined

Table 2.6 DC Reactor Terminals

(i) Tachometer-generator Terminals and Servo-

motors 3ERVOPACK DC Reactor Terminals

Type DO Reactor Type

CPCR- Terminal Type Number

Table 2.4 Tachometer-generator Terminals

and Servomotors MR08C X3055(10mH 8A)

Terminal board

DCTachometerGenerator(TG) MR15C X3056(10mH 13A)

M4 screw

Servomotor Symbol MR22C X3057(10mH 18A)

Type Type Connection Type Plus Minus MR55C X3058 (lOmH 28A) Stud M6Bolt 1 2

(4-) (--) type

Cannon Connector A B MR75C X3066 (lOmH 40A) termi- M8

nal

UGCMEM-[]GC UGTGIM_-7.Ly Terminal board or out- MR99C X3067 (10mH 55A) board Bolt

going lead opening 1 2

UGJMED-[]

Terminal board or

UGCMED-[]AA UGTGIM-7LVC outgoing lead 1 2

opening (4) Thermal Overload Relay Terminals

UGHMED-i]GG

UGPMEN-[] Screw terminal 1 2 Table 2.7 Thermal Overload Relay Terminals

PMES-[] 11TG-D027 Cannon Connector C D Thermal Overload Relay

Terminal Arrangement

UGMMEM-[] Cannon Connector C D Type

UGPMEN-[] 1 _ __7 ,

PMES-[] RHP-15 -

2

UGCMEM-E] TG-7SV
UGCMED-[] built-in

feedback CannonConnector G H 1 3 5 8

UGHMEM-[] unit,type_ _3_ _3 %

TFUE-[-]C7 RH-18[] PV - II

UGHMED-[]

2 4 6 _ 7 1oo

UGJMEO-[]
UGMMEM-[] RH-35/[_-] HV 1 3 5 8

[

Note: When positive voltageis appliedto motor terminal @, o
plusside terminal shown in Table 2.4 becomes positive. RH-35/[_-]T 2 4 6 9 7 l°0

(2) Power Transformer Terminals

Table 2.5 Power Transformer Terminals

Power Voltage across Voltage

_ERVOPACK Transformer across Primary Side Connection of Power Transformer

Type CPCR- Type (_) and Q Q and (_)

MR01C CPT8585(300VA) 35VAC 4-10% u,, g___, u,, u¢_o,.

MR01 CJ CPT8589(a00VA) 100VAC + 10% 50._H_ ' _.S0H_

U2 U2

MR02C CPT8624(500VA) 47VAC 4-10% 100 VAC i_v, C,

4- 10% Ul 22ov u....

MR02CJ CPT8630(500VA) 100VAC 4-10% (50 VA)

50, 60 HZ Vl_ 1 V. C_

MR05C CPT8660(1 kVA) 85VAC 4- 10% u2, u2 u2, u2
MR07C CPT8665(1.5kVA)80VAC 4-10% _2 _2

21

3. OPERATION

3. 1 POWER ON AND OFF 3, 1, 1 SERVOPACK Types CPCR-MR01C to -MR07C

For CPCR-MR[]C, the input must be made (i) When Only One Servopack is used (Fig. 3.1)
separately for the main circuit power (types
CPCR-MR01 to-MR07C: u], v2input; typesCPCR- The main circuit power and the control power

MR08C to -MR99C: R,S,T input)and for the control must be supplied or cut at the same time, via a

power transformer. Speed reference must be 0V
circuit power (types CPCR-MR01C to -MR07C: while power is applied. If motor is started or
u2, v2input; types CPCR-MR08C to -MR99C: r,t stopped (power on or off) while applying speed
input) referencevoltage,troublemay result.

POWER SUPPLY

200/220 VAC --+10%
OR 100/110 VAC --+10%

_: POWER ON

OFF _l_ 1RY 1THR 1MC

C-4 ,sup

1

1MC 1MC

- __ _ 2SUP

POWER I

/

TRANSFORMER t VVVV_A/

I.... I

I I / F_-c-_3 _ 04---_- 1THR CC SERVOMOTOR
' ' L I , A4 oJLo

Y1 SERVOPACKBI

-- -- _V2 TYPES !I

! CPCR- _,

!

, MRO,c I

5CR IF TO-MR07C I I

SPEED ,.b5CR_ I_ / !/ i L_

REFERENCET ',(,_ ,/ ,l_ (_

- _.' _ (4-) 4_ ,, _,

_'/ i (?v) ! T (_CNTEARCAHT%MET ER

/

Fig. 3.1 Power Sequence Example for

Types CPCR-MR01C to -MR07C

22

(2) Combination of Servopack and POWERSUPPLY

200/220 VAC ±10 %

Protection Device Type JESP-PT OR 100/110VACi10%
(Fig. 3.2)

1MCCB ) POWERPowER

When protection device type JESP-PT _ _o____

is used with Servopack, make sequence OFF I RY I THR 1 MC
so that only the main circuit power is 1suP

cut Off in the case of servo alarm. (For -- iMC 1MC

details, refer to Par. 3.8.1 "Protection
Device".) 2suP

For precautions at power on, I vvvvvv

refer to Par. 3.1.i (i). If IMC is I /vvvvv_

J

turned off during trouble, fault

indicator will be out.

1 THR

DC SERVOMOTOR

3) Combination of Servopack and --' -_

I FU

RegenerativeUnit Type JUSP-RG , ,

(Fig. 3.3) SERVOPACK !

TYPES
CPCR-MR01

When regenerative unit type JUSP- 5ca ' TO-MR07CI ,_'

RG is used with Servopack, make se- SPEED (--) 3 f_.J

quence so that the power is cut off by REFERENCE I

Y

an alarm signalof regenerative unit. (+) DC TACHOMETER
(For details,referto Par. 3.8.2 (0v) GENERATOR

"Regenerative Unit". )

2 MC

PROTECTION

3 SUP DEVICE

Fig. 3.2 Power Sequence Example for the

Combination of Types CPCR-MR01C to

-MR07C and Type JESP-PT _ ,

POWER

POWER ON

OFF .j_ 1THR 1 Ry* 1 MC

1 SUP

,r-_----------_ _ U, I ] _I THR

F-_ 1MC :.y

POWERSUPP,yo_ _--_--_ I_--_1, '1SERVOPACK/ +

200/220VAC ±10°1o _ I _ _ <___vl i
OR 100/110VAC o'_'_oJ_ 1 1 M___ I I ,1 TYPES i

CPCR-MR01C " DC SERVOMOTOR

±10% 1Mcce II I<-_u2 T ,,2 TOMR07Ct

II 14 ( '. (100V)/

POWER ! _ $-2 "1 . , ,2

TRANSFORMER['-_ ___[ A 1

I

2suPyl,_/ __ i

*Type MY-4Z made by OMRON Corpo- _ / ', /_', "J

ration or equivalent. 1Ry* _, / , ;3 o-')l('-o_ I I PI, I_DC TACHOMETER

Note: Theabove exampleis shown where _--o_ f _ ' 'T _GENERATOR

regenerative unit is used with alarm signals _-_-_ C4

_) and _ from Servopack. I_5'_CAo._'6"_ Pi I _ SPEED REFERENCE

tREGENERATIVE I/ "r '_

,UN,TTYP,,,! (OV,zi

[I_oSP-RG I

Fig. 3.3 Power Sequence Example for the 1 -----13--5--6=-- I

Combination of Types CPCR-MR01C to t____.,_

-MR07C and Type JUSP-RG

23

3.1.1 SERVOPACK Types CPCR-MR01C to -MR07C (Cont'd)

(4) Combination of Servopack, Protection Device

Type JESP-PT and Regenerative Unit Type JUSP-

RG (Fig. 3.4)

POWER

POWER ON

OFF _J__ 1THR 1Ry 1MC

1 SUR

r...........-:_ 2MC [F ___

POWERSUPPLY_o_ ,MCi / v, '_--_' SERVOPACK_

_oo,_owc-- ?_c_ _ i _ !Y

4-10 % OR 1

TYPES SERVOMOTOR

ii cPc - o cii

TRANS-I I<" :_pv2 1100 ,

FORMERL__ ---- _ i

i ®

1FU

1Ry ' ft "_ DCTACHOMETER

GENERATOR

I,

F,- __ , 1: ,1;',

] t._ / SPEED REFERENCE

[ REG-EI'4E_IV-E 1 14CN i

UNIT TYPE 19_.... 11 5- 6-- -77

i L-1.Ry-4 '

2MC

t__ , _, ®

2sup B{ ®

PROTECTION DEVICE

TYPE JESP-PT

Fig. 3.4 Power Sequence Example for the

Combination of Types CPCR-MR01 C to -MR07C,

Type JESP-PT and Type JUSP-RG

24

3.1.2 SERVOPACK Types CPCR-MR08C (W) to

-MR99C

The main circuit power (R, S, T) and the control Thus, the sequence for power on and off is
power (r, t) must be input either at the same time, reversed.
or the control power first followed by the main
circuitpower. In the case of trouble(servo alarm), only the

main circuitpower is to be cut off (Fig. 3.5).

They must be cut off either at the same time

(instantaneous power failure included), or the Troubleshooting is described in Par. 3.3.5 (2)

main circuit first followed by the control power.

POWER

POWER ON

OFF _ 1MC THR

1 MC

POWER SUPPLY - ----(J----o_ 1 THR
200/220 VAC _-+10%, r- -.--_,i6-18-, i x
50/60 Hz

1

o ! F-

o J

I

SERVO AC" OCSERVOMOTOR

TYPES
CPCR-MR08C ]

TO-MR55C

i

Note: The power on and off sequence is 5 CR .,,_.

the same for CPCR-MR75C and -MR99C. I " "

I

5CR

DC TACHOMETER
GENERATOR

Fig. 3.5 Power Sequence Example for

CPCR-MR08C to -MR55C

3.2 SPEED REFERENCE

3.2.1 Speed Reference Circuit

From the Servopack built-in control power (termi- set value. When external power is used to give
nals @, @, @) or the external power, the speed the speed reference voltage to Servopack, use

reference voltage is given to terminals (_) and the range of 0 to _+12 V.

(_)or to terminals (_ and (_. When the Servo-

The method for giving speed reference voltage

pack built-in control power is used, the motor

is described below.

speed fluctuates in the range of + 2% of the speed

1k_ (_ W OR MORE) 1.8 k_ (_ W OR MORE)

FORLOW

(i) For Accurate (Inching) Speed Setting: ITYPER_30YN]TYPER_30YN _32SPEEb !q

_Lo,E0U,VALEN, i!" SERV0P C

!_ ,2vT _3 04knt, '_Spe_I

1.8 k£ (_ W OR MORE) / 2k£1 ,L_. I _ - (OR9)

r-q / _se.voPac, / _12 L 500:1

I TYPE 25HP-10B _3 I|

_[_OREQUIVALENT__ 2 i1

12V __ 2k_l I"-_--O_QI (OR 9)

]-, 1_ 1000:1 _2_" -._ .TypeRV30YN:cosmosElectric. Carbon-film variable resistor made by Tokyo

• Low-and high-speed relays: Reed relay (PC series) made by
Nippon Electric or equivalent, or low-level relay (GzA-432) made by

• Type 25HP-10B: Multiple-rotation type, wire wound variable OMRON Corporation or equivalent.
resistor (with dial MD10-30B4) made by Sakae Tsushin Inc.

Note: When a carbon resistor is used, a great residual resistance
remains, and so the speed control range becomes approximately

(a) When Multiple-rotation Type, Wire 5oo:1.

Wound Variable Resistor is used

(b) When Carbon Variable Resistor is used

Fig. 3.6 Method for Giving Speed Reference Voltage

(for Accurate SpeedSetting) 25

3.2.1 Speed Reference Circuit (Cont'd) TWO-CORETWISTED !"

SHIELDED CABLE

TWO-CORETWISTED [_ 1

(2) For relatively Rough Speed Setting SHIELDEDCABLE ! //_-\_ _!

,BkO,+WORMORE'' t; IP+I ":

_i k z _2

=+,ilORBI __2

+vl ly+o,ii J .....

Note: When a carbon resistor is used, a great residual resistance (a) Types CPCR-MR01C (b) Types CPCR-MR08C

remains, and so the speed control range becomes about 500:1. to -M R07C to -M a9gc

Fig. 3.7 Method for Giving Speed Reference Fig. 3.9 Handling of Speed Reference
Voltage (for relatively Rough Speed Setting as Input Terminal

compared with Fig. 3.6)

3.2.2 Stop Reference Circuit 3.2.4 Auxiliary Input Terminal (4- 2 to 4- 10 V)

When commanding a stop, do not open the speed When using the auxiliary input terminals, adjust

reference circuit (terminal (_)or _)), but set to the input resistance to 3.3 kfl/V (i0 kfl for 3 V

to 0 V [Fig. 3.8 (a) and (b)]. rating, 33 kl_ for i0 V rating, for example).

1.8 k_ (_ W OR MORE)

3.3 BUILT-IN FUNCTION

LTYPE 25HP-10B13 RUN [SERVOPACK

12 V - OREQUIVALENT[_"-""""_r_-J_ 1 _D c_

/_ 2ka_l 2 _ 5FTOP]'" ...... 3.3.1 External Current Limiting Reference Circuit

Current can be limited from the outside as well as
withinServopack.

The external current limit is used for the follow-

(a) When Multiple-rotation Type, Wire ing cases:

Wound Variable Resistor is used

• To protect the motor from overload current when

1.8k_ RUN(ON) an abnormal load lock occurs in the load.

(+ W OR MORE) _STOP (OFF) • To change the current limitvalue according to

F4EE:3--o 0-7 [ SERVOPACK the external sequence.

• 1 ThYPE_V3v_YN+'3 '

12 V OR EQUIVALENT-NTCLI I_ _-

. urre t ,a e et

/

ting by the use of relays (Fig. 3.10). The same
effect can be obtained by giving voltage signals

making analog change.

(b) When Carbon Variable Resistor is used

Fig. 3.8 Method for Giving Stop Reference _ SI_'_I t14 SERVOPAOK

3.2.3 Handling of Speed Reference Input Terminal

11

The unused terminal, out of the speed reference
terminal (_) and the auxiliary input terminal (_) ,

Relay: Low-level relay type G2A-432A made by

must be short-circuited to SG 0 V (terminal (_), OMRON Corporation.
which is then grounded (Fig. 3.9.) If it cannot

be grounded, the speed reference circuit and TG Fig. 3.10 Multi-stage Switching of Current
feedback circuit must be carefully connected to Value at Forward Side
prevent noise.

26

(i) Method of Giving External Current Limit (3) Current Limit when Motor is locked

Reference When lockinga motor by applying a current limit,
The forward current (current from motor terminal determine the current limit value less than the

@ to (_)) and reverse current can be controlled rated current of the motor. If the load condition
independently. The forward current can be con- requii-es a current limit exceeding the rated motor

trolled by giving a reverse voltage (0 to -9 V) to current, refer to Par. I.2."SERVOPACK OVERLOAD
Servopack terminal (_ ; the reverse current by CHARACTERISTIC", and make sure to unlock the

a forward voltage (0 to 9 V) to terminal (_ . The motor before reaching the overload_level.

power supply must use an internal resistance less

than 2 kfl. The input resistance at Servopack Note that when the speed reference voltage is
side must be greater than 5 kfl. When external less than tens or so millivolts (affected by setting

current is not restricted, terminals @ and @ of gain of 4VR and 6VR), the motor lock current
are opened, sometimes pulsates. Ifthis isnot desirable,the

current pulsation can be removed by increasing the

(2) Set Voltage and Current Limit Values speed reference voltage.

For motor locked more than one minute, consult

The relationship between set voltages of 0 to _+9 V your Yaskawa representatives.
and current limit values are shown in Fig. 3. ii.

• Current Limit at Forward • Current Limit at
Side Reverse Side 3.3.2 Proportional Drive Reference Circuit

(Complete Stop Reference Circuit)

CPCR-MR07C CPCR-MR07C

CPCR-MR02C \

CPCR-MR05Cf _/2__ If a position loop is not set for positioning, and

I \ aria CPCR-MR02Cl\ 30A

CPCR-MR05C

30 CPCR-MR02cj_CPCR'MR01C_Y_/_2OAC -30 _ after completion of positioning, has been left for

25 25 CPC_M_CjI X quite a long time, the positioned point may have

CURRENT URRENT

LIMIT 20 CPCR- /_ _ LIMIT 20 \/k 20A moved due to preamplifier drift.This can be avoided

VALUE MR01C_.,/.k'_/._._A by shortcircuiting terminals (_ and _) immediately

VALUE..0tC Z A CPC. V--

(A) 15 A (A) 15

_j,;__A afterthe positioning(Fig. 3.12). This switches

10 -10 the speed amplifier from PI drive to P drive and

5 -5 _ the loop gain in the controlsystem drops and the

_ i _ i i J i i r i i i i i i i i

-I -5 -9 O 5 9 drift decreases. The P drive reference circuit can
SETVOLTAGE(V) SETVOLTAGE(V) be controlled also by non-contact signal (0 V common,

open collector operation). See Fig. 3.13.

(a) Types CPCR-MR01C to -MR07C

In this case, pay attention to the voltage and

•Curt_ent Limit at Forward •Current Limit at eurrnet of the drive element. P drive reference

Side Reverse Side ON/OFF timing is shown in Fig. 3.14.

] CPCR-MR99C 100A / CPCR-MR99C 100A

'°°I v= '00r v- I;

C CR.,,5c goC CRM.,5C i°°

g°F cPc.-\/ - r CpCR-\/ OR,VE

80_- MR55C /_ 75A -80 _- MR55C /_ 75A 1 SERVOPACK G=A'432ARelay:Low-leVelmadebyrelaYoMRoNtype

CPCRc'k_ 60A --70_ CPOR- _,/_'_ 3_sOR L__L_(SGOV) Corporati ..... quivalent.

70 MR22

CURRENT CURRENT MR22C

CPCR- u 60 A

LIMIT 60_- ..... X//_ _ LIMIT -60 F CPOR- -//_

VALUE / ....... ,/ X _,z VALUE / MR15C / Y V

_-CPCR- /_/\/ (A) -50_-CPCR. X /\/ Note: When P drive reference is input, if the speed

(A) 50 MR0

40 t 8_A _40t MR08_A reference voltage is not 0V, the motor rotates.
30_- //.,/_ ._ 25A ._30_- //_/ _" 25A Fig. 3.12 Proportional (P) Drive

Reference Circuit

10_ --10_

1.5TO7 --1.5TO-7

0 -1 -5 -9 0 1 5 9

SET VOLTAGE (V) SET VOLTAGE (V)

Note: TypesCPCR-MR55C-H and-MR75C-H have
been designed in 55A limit.

(b) Types CPCR-MR08C to -MR99C

Fig. 3.11 Set Voltage--Current

Limit Characteristics

27

3.3.2 Proportional Drive Reference Circuit
(Complete Stop Reference Circuit) (Cont'd)

"A I

.....+,v v%.:

NON-CONTACT F_-._ _ I ' NON-CONTACT

S,ONAL ts .voP c S,ON L VOPAC

(SGOV) /li I _ P DriveON: V<l.EV (SGOV) DriveON : V<I.EV

[ _(SGOV)-I P Drive OFF: V>6.0V [ L-(SGOV)_ P Drive OFF: V>IO.OV

(a) Types CPCR-MR01C to -MR07C (b) Types CPCR-MR08C to -MR99C

Fig. 3.13 Example of P Drive Reference Circuit Non-Contact Signal

ON ON

P DRIVE --I OFF I 3. 3. 30vertravel Preventive Circuit

REFERENCE ,

SPEEDREFERENCE0V _"ISPEEDREFERENCEONI, ,! 0v (Forward OFF, Reverse OFF Circuit)

STOPi !/f RUNNING '_ !STOP This circuit is used to stop the motor drive at

MOTOR

I

,_ : .'r-_, forward running (counterclockwise direction when

, _'to'_--' viewed from the drive end) and at reverse running.

Notes: The circuit, however, only cuts off the output

1. Arrow _ means a delay time greater than the operating time for voltage that drives the motor, and therefore, the

one relay(10ms). motor stops after coasting. To apply brake action,

2. P drive reference OFF_ ON timing is done after the motor has set the speed reference voltage to 0 V, or use
stopped (after completion of positioning). When the operation the dynamic brake circuit (generator control)

does not include positioning, the timing can be set by setting timer
(to) instead of the speed reference OFF. (Set (to) longer than the
time needed for motor stop.)

Fig. 3.14 P Drive Reference Timing

Table 3.1 Overtravel Preventive Circuit

CPCR-MR01C oMR07C CPCR-MR08to -MR99C

to

Closed across terminals _ and (_)-_. Open across terminals (_-(_) and (_(_.

MotorRunning SERVOPACK SERVOPACK
(NormalOperating _ - _--Z_____- -- -- -

State) _J-_J [_---_ _

Forward Openacrossterminals(_)-_ and closedacrossterminals(_-(_. Closedacrossterminals(_-_) andopenacrossterminals(_)-_.
RunningStop _ __ SER_VOP_ACK7_______._ SERVOPACK

Action)

Reverse Openacrossterminals(_ andcloseJacrossterminals(_-_. Closedacrossterminals(_)-_ and openacrossterminals(_).

SERVOPACK SERVOPACK

.unoo0sto0 __.

(ReverseOFF p __1 L_ l _---_S

Action)

NCcontact FORWARD NOcontact FORWARD

OFF I RR* 2mA/_ OFF 1RR° 5mA[-_

= -.... _ = - _zr 8V = r_o_-_-- :_._"_-_+12V

--o _ -_-- --o

===_,__j _ I-J _P,,m,l]

Forward OFF, .-o _ - L----8V = 2RR" ,.--.o---.-.-._- "_' 1--17

Reverse OFF REVEI_SE[_---L-J ;1' I I I f R_VER_ I-.._J tt', I I "r'; _+12V

OFF i _,_iI l_ OFF I-- _l_lI _L

Circuit ' "ii' YT--+sv ] 1 IE!_

Configuration _ ' - _i(SGOV)

usingRelay E-- 1

"<F!2_

3 M MAX

M MAX

FORWARDOFF 1 PHC 2 mAI-I FORWARD 5 mA _6

_====_-'D=-_ ---i 'J" _-_--- --8 V OFF I Tr '" _ FT--- +12 V

= -_L'J_-_=-_]:J 1" ,2rnA[(_ m/

ForwardOFF, ' " '

ReverseOFF REVERSEo_,, ._/ I ?_1 2 "--+12V

Circuit _ , ,I ,| 1 L5 +8v REVERSE

___ OFF T1(SGOV)-¢

Configuration 2-PFiC TI ,1"_ (SGov)

usingNon-contact !.4 "_7_E

Signal _1/I _ -'--1

Transistors1Tr and 2Tr are operated by open collector with

Terminals (_), (_) and (_) cannot be operated by 0 V common. 0 V common.

* 1RR, 2RR: L()w-level relay, type G_,-432A made by OMRON Corporation

or equivalent.

28

3 3 4 ExternalBase offCircuit When the external base off circuit operates,

the proportional drive command circuit in Par.

When one Servopack is used to control several

3.3.2 operates at the same time. To prevent an

motors, the motors and TG must be switched with

abnormal operation due to,saturation of the speed

the drive circuit off. To keep the motor in stand-

amplifier when releasing the base off, it is un-

still, the drive circuit must be off. In this case,

by shortcircuiting across terminals (_ and _), necessary to use the proportional drive command

the drive circuits for the forward and reverse circuit. As reference, Fig 3.16 shows the external
sides can be stopped at the same time [Fig. 3.15 base off methods when overtravel preventive

(a)and (b)_. circuitsare used.

EXTERNAL SIGNAL ', _ ; II

BASEOFF3TO 3TO

! o1-1 4mA....+=v =R=

L L-(SGOV)7

1RR: Low-level ralay type G2A- External Baseoff ON : V< 1.5V

432A made by OMRON Corpo- External Base off OFF: V > 6.0V Fig. 3.16 External Base off Method when using

rationor equivalent. Overtravel Preventive Circuit

(a) External Base off Circuit (b) External Base off Circuit

using Low-level-Relay using Non-contact Signal

Fig. 3.15 External Base off Circuit

3.3.5 Protective Circuit

Servopack CPCR-MR[:]C provides various functions (i) Trouble Detecting Function
to protect the body and motor from malfunctions.

The troub]e detecting functions are shown in
Table 3.2.

Table 3.2 Trouble Detecting Function

CPCR-MR01 Cto - MR07C CPCR-MR08Cto -MR99C

SERVOPACK Type

SERVOPACK SERVOPACK SERVOPACK Standard Type CPCR-

Trouble _ only andType andType

Protecting Function _ JESP-PT JUSP-RG Type M Ri-_]CL
TG Trouble Detection: Detects, broken, or short-

- © -- ©

ed wiring or reverse connection in TG circuit.
Overcurrent Detection*: Detects an overcurrent

in transistor due to malfunctioning such as motor O © O ©
insulation problems.

Overvoltage Detection: Detects abnormal DC O © _) ©
voltage in the main circuit due to large load inertia.

Blown Fuse Detection: Detects that the []
SERVOPACK main fuse is blown. (Output: Contact output across terminals _-_)) ©

Motor Accomplished by a separately installed thermal overload relay.

Overload Detection: Overload

Detects overload of motor or
SERVOPACK SERVOPACK © (For type

Overload_ -- JESP_PT) - _ ©

Heat Sink Overheat DetectionS: Detects exces- © ©

sively overheated heat sink by cooling fan (For type CPCR - MR 07 C) (FortypesCPCR-MR55Cto-MR99C)

malfunction etc.
Regenerative Circuit Trouble Detection: Detects

breakdown of regenerative resistance, or trouble -- © ©
in regenerative transistor or regenerative circuit.

Indication See the next Par. (2). Take corrective action when protective circuit operates.

Item0 Item _) I

Protective Circuit ON Output_ -- contact output Lead relay I Item ©

1NONCcontact contact output contact output

Reset Power off Reset BS Power off Reset BS

*Overcurrent meansaninstantaneous(100,usor less)current (greater _0: External signalsare not output.

than 1.2 to 2.0 times the instantaneous maximum current of Servo- 8,(_,[7: Externalsignals are output.
pock)passingthrough the power transistor used in the maincircuit. Output contact specification

_): Power relay 1NONC contact; 200 VAC 1A, 24 VDC 1A

_"Specification for the specialtype. _): Lead relay 1NO contact; 100VAC0.3A (15VAmax)

[]: 1NO contact; 200VAC 1A, 24VDC 1A 29

3.3. 5 Protective Circuit (Cont'd) cut off the control power (terminals (_) and @,

or (_) and O) at this time, because this will turn

(2) Corrective Action when Protective Circuit off LEDs in CPCR-MR or JESP-PT indicating the

Operates cause of alarm.
When the protective circuit operates, the drive

circuit in Servopack is turned OFF, the content NOTE

of operation is displayed with LEDs, and alarm

signals are output from the external terminals Before restarting the operation, set the speed

@, @ , and @ . This state continues until reference to OV. Then turn on the main circuit
reset. The output of an alarm signal shows some power. (Due to saturation of the speed ampli-
trouble, so check the cause and take the proper tier, an instantaneous high-speed rotation may

corrective action to restart the operation, occur momentally.)

Do not check the cause whf]e power is

applied to the main circuit. Make a sequence 3.3.6 Display

to cut off only the main circuit power supply,

(terminals (_ and (_ , or ® , (_) , and (j)) Servopack CPCR-MR[:]C is provided with a variety

using an alarm signal. See Fig. 3..5. Do not of LEDs for indicating the operating conditions

in protective circuit and control section. Table

3.3 shows indicating specifications.

Table 3.3 LED Indication Specification

SERVOPACK Protection SERVOPACK

Indicating Types Device Types

Function LED Name Lighting Condition

CPCR-MR01C Type CPCR-MR08C

to -MR07C JESP-PT to -MR09C

Control power is supplied. (CPCR-MR01C to -MR07C:

(Green) 100 VAC _+10 %, single-phase across terminals(_)-@:

CPCR-MR08C to -MR99C: 200 VAC +_10%, single- O -- O

Power Supply phase across terminals Q-O.)

rM_N](Green)51LEDMain circuit power is supplied. -- -- O

Speed reference (+60 mV or more) is input across ter-

SpeedReference_ (White) - -- O O
Input minals(!)-(_)or(_)-(_).

Base is off in both forward and reverse rotations:

• Overtravel preventive circuit (terminals t_),(_), (_)) oper-
ates in both forward and reverse rotations.

Base off _ (White) • External base off circuit (terminals @-@) operates. -- O O

• Servo trouble detecting circuit operates.

• Mainpower isnot applied to SERVOPACK.(200VAC_+100/0,
three-phase, 50/60Hz across terminals ®-®-_).

TG Trouble _ (Red) TG trouble detecting circuit operates. -- O O

}PROTEC'i-J(Red) -- 0 0

Overcurrent Overcurrent detecting circuit operates.

i-_ (Red) 0 -- --

(Red) -- 0 0

o IOvervoltage Overvoltage detecting circuit operates.

_ (Red) O -- --

g

_- IRE'GENEI (Red) Blown-fuse detecting circuit operates. -- -- O

o BlownFuse SeeFig. SeeFig.

Fuse Element Blown-fuse indicator comes out from fuse element itself. --

3. 17 (a). 3. 17 (b).

SERVOPACK overload detecting circuit operates. (Protection

Overload _ (Red) device: type JESP-PT[_]Lonly; SERVOPACK,type CPCR- -- .,_ A

MR[]]CL only)

Heat Sink _ (Red) Heat sinkoverheatdetectingcircuitoperates. (For SERVOPACK

Overheat IPROTECTI(Red) typesCPCR-MR55Cto -MR99C) -- -- A

Regenerative _ (Red) Trouble detecting circuit for regenerative circuit operates. -- -- O

Trouble

Notes:

1. Mark _ isfor specificationof specialtypes.

2. MarkO or A is displayedwith Servopack.

30

INDICATOR_ r__lL_]llI _ 3.4 PRECAUTIONS FOR APPLICATION

WINDOW %-II IL> 3.4.1 Coating (Varnish) Treatment

When used in ambients where oil mist is likely to

Note: If the fuse is blown, deposit or humidity is high, Servopack internal

theindicatorwindowonthe insulating resistance drops due to oil mist or moisture

fuse casing showswhiteto and malfunction may occur. For use in a severe

indicatea blownfuse.

ambient condition, the type of treatment for severe

(a) Types CPCR-MR01C to -MR07C environment should be applied.

For the severe ambient condition, types having

ELEMENT FUSEHOLDER control board coated with varnish are available.

eLOWNFUSE

D=CAT=ON" 3. 4. 2 Minus Load

b by load;itisimpossible,

The

motor

is

rotated

the

by the use of CPCR-MR[]C, to apply brake

"Whenfuseis blown,theelement (regenerative brake) against this rotation and

indicatorcomesout. achieve continuous running,

(b) Types CPCR-MR08C to-MR99C Example: Driving a motor to lower objects (with

Fig. 3.17 Blown Indication of Built-in Fuse no counterweight)

Since Servopack types CPCR-MR08C to -MR99C

3.3.7 Current Monitor has the regenerative brake capability of short

time (corresponding to the motor stopping time),

Motor current appears as a voltage signal at terminal for application to a minus load, contact the company.

(_ of Servopack types CPCR-MR08C to -MR99C or For regenerative unit type JUSP-PG used with

protection device type JESP-PT (Table 3.4).. The types CPCR-MR01C to-MR07C, refer to Par. 3.8.2.
signal is used to detect overload of the motor. The
connecting load must have input impedance of

10 kt2 or greater (Normally open). 3.4.3 Type CPCR-MR[-_]CW Application

Types CPCR-MR08CW to -MR55CW are applicable

Table 3.4 Voltage Level of Current

to harmful ambients containing iron powder and

Monitor Terminals cutting oil, such as in cutting and millingmachines

or car factories. The characteristics are the same

SERVOPACK Type Current Monitor Terminal Voltage

(ProtectionDeviceType) (With Terminal Q opened) as those of types CPCR-MR08C to -MR55C, but

the construction differs in that cooling air is taken

CPCR-MR01Ct0-MR07C from the outside of the unit and discharged to

+ (JESP-PT) 0.045 V -t- 10 % A

the outside [Fig. 3.18 (a) and (b)].

CPCR-MR08C 0.06V -t-10% A
CPCR-MR15C 0.05V +_10% A PANEL PANEL

/

CPCR-MR22C 0.03V -t- 10% A _

CPCR-MR55C 0.02V -t- 10% A t I I%COOLING_ AIR

CPCR-MR75C 0.015V -t- 10% A
CPCR-MR99C 0.01V ± 10% A

qp COOLING

AIR

3. 3. 80verspeed Drive (O.S Drive) (a) Cooling System for (b) Cooling System for
Type CPCR-M R[_]C Type CPCR-M R[_]CW

To fully develop the characteristic of Minertia
Motor J series (large torque at low speed), CPCR

-MR _-j CJ and CPCR-MR [-] C-J provides the O.S Fig 3 18 Cooling System
drive function enabling an overspeed drive up

to approxin_ately 1.5 to 2 times the rated speed
within the allowable speed range of the motor. It

is therefore unnecessary to control the current

limit characteristic determined by the motor

(according to the speed, automatic current limit

is applied from the outside).

31

3.4.4 Type CPCR-MR[-]CL and Type JESP-PT[-]L (3) Types CPCR- MR55C to -MR99C: JL<2JM

Application If load inertiaexceeds the above values, contact

For continuous running of Servopack, the load your Yaskawa representatives for types CPCR-

MR-08C the available range of load inertia is

conditions must be checked thoroughly. Special max five times of motor inertia by using regene-
care is needed for application to an operation mode

rative unit. (Refer to Par. 3.8.2.)

in which the load varies and the Servopack continr

uous output current is exceeded (except for

overload due to start and stop) , or where the motor

locking current may continue for 1 second or longer 3.4.7 Motor Overload Protection
when the motor is locked due to machine trouble.

In such an application, use Servopack type CPCR- If a motor runs continuously under overload, motor
MR[_]CL or type JESP-PT [_-]L with the overload coilmay burn out. To protect the motor, use a

detecting function to prevent trouble made by thermal overload relay that matches the thermal
exceeding Servopack overload capability, characteristic of the motor. Make sure to connect

The protective circuit detecting level is set the specified thermal overload relay as shown in

under condition of a motor locked during motor Figs. 2.1 to 2.5. Make a sequence circuit so that
running, and therefore the safety factors and the main circuit power is turned off when the

allowable conduction times are different for each thermal overload relay operates.
Servopack. See Fig. 1.2 (a) to (h).

For Minertia Motor J series, the thermoguard

Servopack operates at an early time for frequent may be contained in the motor as an optional. In

start and stop application in this set level• In this case, the contact of the thermal overload re-
application, thorough consideration is necessary lay is connected in series to the contact of the

for the value to be set. Note that the thermal thermoguard (Fig. 3.19). Note that the thermal
overload relay for motor overload protection does overcurrent relay is not attached to the motor
not protect all the overload characteristics of Ser- and must be procured separately.
vopack.

3.4.5 Special Power Voltage THERMALOVERLOADRELAY

Where the supply voltage is 400 or 440V, itis lit

necessary to charge power supply transformer, i_ Ac_--°le

The transformer is available on order. SERV0PACK ( r'l THERMOGUARD

(2) Types CPCR-MR08C to -MR99C Bk_(CO2TBACTCAPACITY:200V.IA)

For power voltage of 400 V class, a transformer

must be added. In such a case, contact the Fig. 3.19 Minertia Motor J Series

Overload Protection

company• Single-phase power of i00 V class cannot

be used.

3.4.6 Load Inertia

Type CPCR-MR_-]C has a limit in its regenerative
control capability and therefore the load inertia

is restricted. When the motor speed is constant,
the regenerative energy of the motor is propor-

tional to inertia.

The allowable load inertia converted to the

motorshaftisas follows:

(i) Types CPCR-MR01C to -MR07C

• Print Motor standard series (PM)
Minertia Motor standard series (MM)J _ JL < 3JM

• Cup Motor

• Hi-Cup Motor JL < 2JM

• Minertia Motor J series

(2) Types CPCR-MR08C to -MR22C: JL < 3JM

32

3.5 PRECAUTIONS FOR OPERATION

3.5.1 Noise Treatment (Fig. 3.20)

Servopack CPCR-MR[-_C uses a power transistor may sometimes occur depending on the wiring or
in the main circuit. When these transistors are grounding method. To reduce switching noise

dv

°f didtor -_- (switching noise) as much as possible, the recommended method of

switched,

the

effect

wiring and grounding is shown below.

PANEL 1

SERVOPACK ]1

I'_ _"_,. 1L,-=-,_ _ I ,_. CONDUIT Cf

} p) MOTOR '

R

NDING _t

;O pWpER , _1 _ SG 0V, E GROUNDING

/ ------I ............ I "X_ _PANEL "MOTORFRAME

_.J _ GROUNDING C RECTLY GROUNDED

SPEED REFERENCE----"_-_ _ _'ONE POINT

_/-_"1 GROUNDING

ISOLATOR

T: Insulation

PERIPHERAL
DEVICE RF: Noise Filter

Note: By balancing the ground impedance viewed from PWM power
(by adding 1 X = 1 L equivalent reactor), the normal mode noise is

converted to the common mode noise. This is an effective action

for R.F.I. However, readjustment may be required.

Fig. 3.20 Noise Treatment (Example)

(i) Noise Filter Installation Table 3.5. The power supply to peripherals also

needs noise filters.

When noise filters are installed to prevent noise

from the power line, the preventive type must be
used. The recommended noise filter is shown in

Table 3.5 Recommended Noise Filter*

SERVOPACK Recommended Noise Filter

Type CPCR- Kind of Applicable Noise Filter

Type Specifications

MR01 C LF-205A Single-phase200,100VACclass5 A
MR02 C _ LF - 210 Single-phase200, 100VACclass10A

MR05C X LF- 215 Single-phase200, 100VACclass15A
MR 07 C -= LF - 215 Single-phase 200/100 VAC class 15 A

Correct

MR08C LF- 305 Three-phase200VACclass5A
MR 15 C _ / LF- 310 Three-phase 200 VAC class 10A

O i _ .._ 1 i o

MR22C _ LF-315 Three-phase200VACclass15A
MR 55 C T/__ T LF- 330 Three-phase 200 VAC class 30 A

/ _-[-\

MR75C - LF- 340 Three-phase200VACclass40A

Wrong

MR99C LF- 350 Three-phase200VACclass50A

* Made by Tokin Corp. 33

3 5 1 Noise Treatment (Fig 3 20) (Cont'd) 3 5 2 Power Line Protection

(2) Grounding Method Servopack CPCR-MR08C to-MR99C are the line

operation type using the commercial power line.

• Motor frame grounding To protect the power linefrom grounding or contact
accidents or the system from a fire, it is necessary

When the motor is at the machine side and

to use molded-case circuit breakers (MCCB) or

dv

grounded through the frame, Cf _ current fuses depending on the number of Servopacks to

be used (Table 3.6).

flows from the PWM power through the floating
capacity of the motor. To prevent this effect The fuses contained in Servopack are to protect

of current, the motor frame is directly grounded, the DC circuit, but not to protect the power line.

• Servopack SG 0 V Quick-melting fuses cannot be used. Servopack
CPCR-MR[_-]C has the capacity-input type power

Noise may remain in the input signal line, so and so quick-melting fuses may be blown at the

make sure to ground SG 0 V (terminal (_). time of power input.

The terminals (_ , (_) , and (j_)are connected

to nowhere into Servopack. These terminals

must be grounded outside. When motor wiring Table 3 6 Power Capacity and MCCB or Fuse
is contained in metal conduits, the conduits and

boxes must be grounded. SERVOPACK Power Capacity Current Capacity per

Type CPCR- per SERVOPACK MCCB or Fuse

The above grounding uses one-point ground-

ing. For wiring,seePar. 4.2.2. MR 08C 16kVA 5A

MR15C 3.0kVA 9A

(3) Grounding when Multiple Servopacks are used

MR22C 40 kVA 12A

When Servoapck types CPCR-MR[7 C are housed
in the same control panel, ground them as shown 37 kW 69 kVA 20 A
inFig.3.21. MR55C

5.hkW 9kVA 26A
6kW 10kVA 26A

FSERVOPACK2OR11_ 75kW 13kVA 35A

MR75C

CPCR-MR[TC i., I

E(E1_" MR 99C 99kW 17kVA 50A

_ ONEPOINT

2OR11 _ GROUNDING

SERVOPACK , X/IN PANEL

CPCR-MR[]C E (E1)_"

yq

3 5 3 Driving Motor with Cooling Fan and Motor

SERVOPACK 2 OR11_K_ / __ GROUNDING with Separate Excitation

CPCR-MR[]CE(EI)_" • The cooling fan comes attached to Cup motor

/

type UGCMFM-75FB, Hi-Cup motor type UGHMFM-

Fig 3. 21 Grounding when Multiple 60, industrial DC motor type GEELM-K, and

SERVOPACKs are used Minertia motor type UGMMKR-2AA, respectively.

For the cooling fan specifications (power require-
ment, number of phases, thermal overload relay

(4) Others type forprotection,connectionmethod, and air

flow), see the individual motor specifications and

• For an effective action due to R. F. I., use make correct connection.
three-phase insulation transformer for the power

supply (for types CPCR-MR08C to -MR99C). Make the sequence so that the motor-drive

main circuit is cut off when the fan-protecting

• For preventing noise from the speed reference thermal overload relay operates.
circuit, use an isolator.

Minertia motor type UGMMKR-2AA requires a

Example: V/V Isolator M3000B Type made by field power supply in addition to Servopack.

M. T. T. Co. Our company offers the fieldpower unit NPSA-

TM-20(RH)YI for type UGMMKR-2AA. For
details, contact your Yaskawa representative.

34

3.6 CONNECTION DIAGRAM OF SERVOPACK

3.6.1 Types CPCR-MR01C to -MR07C

POWER SUPPLY Prevent external noise

200/220 VAC + 10 %

I OR 100/110 VAC a noise filter.

(_)_+ 10%, 50/60 Hz

1MCCB The connection terminals depend If the thermal

the supply voltage (illustration relay trips, turn

shows the connection for 200 VAC). off the power.

NOISEFILTER POWER

POWER ON

--- OFF .J._ 1 RY 1 MC

1MC

1RY

If the fuse is

(FRAME GROUNDING blown, turn off

VV_/_/VV_/ the Be sure to fit a surge

suppressing device to each

AA/VVV_A of the magnetic contactor

Bold lines indicate and the relay.

POWERTRAN lines(exclud-

(1T) grounding

line).

%il

Connect respectively the --_-J

THERMAL OVERLOAD

same symbol terminals ( 1 FU RELAY (1THR)*

transformerand SERVOPACK.

(

)_2 SERVO-!I

()]/2 SERVOPACK MOTOR I

LEAD LENGTH: TYPE • I For TG terminal symbols, I !

................... IO.METERS OR LESS CPCR-MR01C see Table 2.4. _ I

,_, _ I T°-MR°'Ci \'-.i ,

) 1 1--) 3 I'" "_)\ (--) "_

ql I1F×__IEX; ;r, I I

! l, P=

SPEED'l _.....[/' il I'_./,_, '+)_S.. "" _'--"t'_ (+)r.G

REFERENCE{ /I I / } |F_._)_ {! \ [ -------_-

UNIT i{ ,J --l_-t)'('l-f_l 'i II I (']0(+12V} _(_ _ = MOTOR FRAME

i _ rl 11.2(-,_v 0_-. \ GROONO,NG

)_1 (0V) _(_ LEAD LENGTH:

i L-----8 . E_-___J 10 METERS OR LESS

2-X- - esureto _

Use

ground.

contact (YASKAWA Bestact relays I \
or equivalent, or arrange in i

two-contact parallel connection Use a two-core twisted shielded
for low level), cable (type RG-108A/U or equiv-

alent), and ground the shield.

*The thermal overload relay (1THR) for PM or JM provides neither

terminal _'_ nor (_.

Fig. 3.22 Example of Connection Diagram of
SERVOPACK Types CPCR-MR01C to -MR07C

35

3.6.2 Types CPCR-MR08C to -MR55C

POWER SUPPLY
200/220 VAC

+_10%, ,50/60 Hz

@ l !jj_ Prevent external nOise

with a noise filter.

1

MCCB

Bold lines indicate power lines
(excluding the grounding line). If the thermal overload relay

trips, turn off the power.

NOISE FILTER

-- "JJ (OVERLOAD INDICATION__

-/

1 PL

SERVO TROUBLE 2 PL EXAMPLES OF

INDICATION) INDICATION

POWER MAGNETIC CONTACTOR

ON :OR POWER ON/OFF

I 1 MC

Be sure to fit a surge

device to each

of the magnetic contactor

1 MC 1SUP and the relay.

DC REACTOR (1 X)

r-----1 I "1 THERMAL OVERLOAD

RELAY" (1 THR)

c..... 18 16---17 ...... L_

i

,MctMCE _".ol / , .............

r X"-"_oM Ak,''_ ,_ . }

1MC T I TN.C IT ,A _L /_ ]

r SERVOPACKII l i _ I_

TYPES iI 11 I SERVO',

CPCR-MR08C B9 _ ' MOTOR

LEAD LENGTH TO -MR55C I/ |_ . . II

10 METERS OR LESS I (--)35 ,_'_ b 1--1 J}

I i i :;_IHX: : irl (+) -L

,liRX / )_ I/ _ _= .... JMO%RFRAME

SPEED .,, o.OUND.O

REFERENCE il _1OOI\ \

UNIT i I )401+_12V)

[ 6 4X 5X

_.1i )12t--12 V, i(_ _'1_ 1 \ For TG terminal symbols,

i iJ- \ I--i; I I " ' I,LSmA / \ seeTable 2.4.

=,__ 7,'(ov) ,, _o',¥--• ........ _-_--9----._o--_-_ "-'=-----J15 mA LEAD LENGTH

;__-_ / 2X_,_---13X_(_3mA/_= _ 10 METERSOR LESS

Use relays highly reliable in contact I _ _

(YASKAWA Bestact relays or equivalent,

\

\

or arrange in two-contact parallel
connection for low level), Use a two-core twisted shielded

cable (type RG-108A/U or

To be positively grounded, equivalent), and ground the shield.

*The thermal overload relay should be connected on DC reactor side.

Fig. 3.23 Exampleof ConnectionD!agramof

SERVOPACKTypes CPCR-MR08Cto -MR55C

36

3.6.3 Types CPCR-MR75C, -MR99C

POWER SUPPLY
200/220 VAC

4-10 %, 50/60 Hz

l Prevent external noise

with a noise filter.

I MCCB

Bold lines indicate power lines

the grounding line)• If the thermal overload relay

trips, turn off the power• POWER SUPPLY FOR

NOISE FILTER (2 THR)I r COOLING FAN

_r _s -_'t /// 8 7p _ (THREE-PHASE,

-_ 7 _'-'7_VERLOAD -- -_ 1THR \ 2O0VAC

_ / / INDICATION) \

&oTlobO.

, , \\

2 PL('-'_r S OF INDICATION \

R-,/

\

POWER MAGNETICCONTACTOR

ON POWER ON/OFF

I 1 MC _

_o o_ "Y_r_'_ "_ _ _ _

POWERL._ O_ji _MC. _-- Be sure to fit a surge --r

•OFF _ suppressing device to each :o

of the magnetic contactor to' o_

1SUP and the relay• )l

* [ REGENERATIVE_ | THERMALOVERLOAD

I RESISTORUNITJ_ I DC REACTOR (1 X) RELAY(1 THR)

, TYPEJUSP-RA,T_ _ ,L, r..... 7

Y3-Y4"16- [D

1MC.-- I

1MC',l ''NC I iff OR,,,,

SE.VOP.C,II II@

" t TYPES I I I I I - _, I i

SPEED CPCR-MR75C B_)- _ ¢ I \_._,_._
REFERENCE LEAD LENGTH: I TO -MR9gC l/ p, ]-- \3l

UNIT 10 METERS OR LESS _ _ (-) I

ir--T---t--T.-•7] _ _7', (' I_ ,{p', lll _%/ 17 -----GROUNDING
,, .,.H _F1FXi "' L if ',I,' f'___-i1-_ J_-

i i J'rAT ;_E1RX I /P: (+)

ilIRX_--_-. ( J_ l! I i I j K -J

l ,//'_ ; s_ " T 7 MOTOR FRAMEJ OI 0 | I GROUND NG

!_--_ 0(+12v) +j,__£1.X?lSX / I

-- 12(--12V) 6 ¥_ / ForTG I
I 15 mA / terminal symbols. | I

i EL. \___._. ___ ! /( I fn _I_ 7,6 / see Table 2.4. /

.__ ..... E1 E2 _I _ / I FIELD POWER

L.............. ,J / ._-__8--19___-_.J 5 mA / I SUPPLY UNIT

X --(I_-"_T_--'_- LEAD LENGTH: / I r- ....... -m

_ ]f J!3mA/\ -1-_ 10 METERS OR LESS / ]'--_PI --'?(_-r

" "' " / I I S.[ 200 VAC

(YASKAWA Bestact relays or equivalent,

or arrange in two-contact parallel _ " Use a two-core twisted
connection for low level). _ cable (type RG-108A/U or

shielded

To be positively grounded, equivalent), and ground the shield.

*For only Servopacktype CPCR-MR99C-M.

Notes:

1. The thermal overload relay should be connected on DC reactor side.

2. The regenerative unit, type JUSP-RA03, is used only for type CPCR-
MR99C.

3. Connect a power supply for cooling fan to motor using correct

terminals according to motor specifications.

Fig. 3.24 Example of Connection Diagram of

SERVOPACK Types CPCR-MR75C and -MR99C

37

3.7 APPLICATION 3.7.2 Emergency Stop Dynamic Braking (DB) Circuit

3.7.1 Switching Operation of Multiple Servomotors When an external DB circuit for emergency stop

is used, make and break the DB circuit in the

When one Servopack is used for switching operation sequence shown in Fig. 3.26 (a) and (b) . The
of multiple servomotors (the same type and capacity) , DB resistance value differs depending on the appli-

follow the procedure below [Fig. 3.25 (a) and (b). ] cable motors and conditions• Examples are shown

• Input stop reference (speed reference voltage: in Table 3.7 as reference.
When making a DB circuit with the overtravel

0 V) [DCMI stop]. I preventive circuit,contact your Yaskawa repre-

• Input external base off (terminals (_ and (_): sentative.

ON). i • Input the externalbase offwith an emergency

• Release DC output fo_ DCMI (MCI: OFF). stop signal (terminals (_ and O: ON).

• Break TG circuitfor DCMI (CXI: OFF). • Input DB circuit (MC2: ON)
I . (Motorstop)

• Input DC output for DCM2 (MC2: ON).

1 (Speed reference voltage: 0 V)

• Make TG circuit for DCM2 (CX2: ON).

• BreakDB circuit(MC2: OFF)

• Release external base off (terminals (_ and

• Release the external base off (terminals (_ and

(_):OFF). i (_):OFF).

• Input speed reference [DCM2 run].

NOTES

NOTES 1. Arrow 1 shows a delay time greater than the

1. Arrow I shows a delay time greater than the operating time of one relay.
operating time (10 ms) of one relay. 2. Release the DB circuit after setting the speed

2. Input the external base off after a delay of one reference to 0 V.

relay from the time the motor has stopped.

POWER SUPPLY I _1

THREEPHASE (_rl_t-° °__lr'l _ _ ,?, :__1/

DCM ,._, -_-- I SERVOPACK DCM

1 200/220 VAC i 1 I

/ Y {C; i ' ! i I I I (_ TG SPEED - - _'-__---'J

I l _ :_2 ..... -19----1t ......... "] ' CIRCuITREFERENCEEXTERNAL "lJ" II

SPEEDREFERENCE ----<1_'_--- BASE OFF _1 ]
CIRCUIT

T' I

(a) DB Circuit for Emergency Stop

EXTERNAL eASE OFF

(a) Switching Operation Circuit for INPUTOFEMERGENCY

Multiple (Two) DC Servomotors STOPSIGNAL

ON

REFERENCE REFERENCE EXTERNAL I

INPUT INPUT BASEOFF OFF OFF

SPEEDREFERENCE I _ ] I

OV I ' I I

, ,,

EXTERNALeASEOEEOEE', ! MC2 OFF',dS°EED ON I OFF

i , , REFERENCE INPUT i

" " SPEED , I

MC 1, CX 1 ON _ I OFF REFERENCE I 0V SPEED REFERENCE

--- I , .... NPUT

II 'f ; i RUNNINGI I

MC 2, CX2 OFF i.... .._ "_1 --IlI_,_ i/

I ON MOTOR I JI J

MOTOR (DCM 1 ) r- to I II I __ _ ; ---_ STOP '

!

R_', , STOP , I

, _, DBSTOP RESTART

(DECELERATION) _ RUNNING

MOTOR (DCM 2)

STOP _-_ Note: Arrow _ shows a delay time greater than the operating

(ACCELERATION) time of one relay.

Notes:

1. Arrow_shows a delay time greater than the operating time (b) Timing Chart when Making and Breaking

(10ms)ofonerelay. DB Circuit for Emergency Stop

2. Turn on the external base off after the motor has stopped
completely. This can be done normally by setting timer to

from the speed reference OFF (set to greater than the motor Fig. 3.26 Use of DB Circuit for Emergency Stop
stopping time).

3. For MC1 and MC2, use magnetic contactor with high contact
reliability.

(b) Switching-operation Timing-chart for

Multiple (Two) DC Servomotors

38 Fig. 3.25 Switching Operation for

Multiple DC Servomotors

Table 3.7 DB Resistor for DC Servomotor 3.7.4 Tachometer Connection

DC Servomotor DB Resistor Type DB Contactor When a tachometer is connected to the tachometer

Type (RDB) Type (MC2) generator, make the connection as shown in Fig.

o UGPMEN-08 3.28, using a DC ammeter of +lmA (both swing).

_ PMES-09 QHZ10W 1`0x2P Using resistances 1R and 2R and a potentiometer

RA-6E2 I VR, set the maximum speed per full scale.

_ PMES-12 QHZ-Y30Wl£

(B x 3P)

E _ PMES-16 QHY60W 2`0

0. _ PMES-20 QHY60W 5`0

J,

UGJMED-10M 4_ 1R

UGJMED-40M QHY30W 2`0.0, 1

DCTACHOMETER i SERVOPACK

.5 UGJMED-40L GENERATOR _ TYPE CPCR-MR[_.C

UGJMED-60M QHY30W2_+QHZ10W1_ RA-6E2

L_

._-

._ UGJMED-60L (Bx 3P)

c co UGJMED-80M

QHY60W 2_

_ UGJMED-80L

UGJMED-80K SGCE0-4iBx4P) Notes:

UGCMED -04 QHY60W 2,0 1. Instrument: _+1mA (both swing) ammeter.
UGCMED- 08 2. 1R, 2R and lVR should be selected according to the setting

RA-6E2 of maximumspeedperfull scale.

"6 UGCMED - 15 (B x 3 P) (select 1R = 2R; 1VR is for fine adjustment)

UGCMED -22

QHY60W 2`0 3. Use ammeter of type DCF-6 or DCF-12N by Toyo Instrument

UGCMED "37 or equivalent.

(D

UGCMED-55 SRCE0-4
UGCMFD-75 (Bx 4P) Fig. 3.28 Tachometer Connection

UGHMED-06 QHY30W 2D,

:_ UGHMED-12 RA-6E2

3.7.5 Transformer for Multiple SERVOPACKs

o. UGHMED-20 (Bx 3P)

UGHMED-30 QHY60W2`0

. Power transformerisneeded when Servopacktypes

f UGHMED-44 SRCE0-4(BX4P) CPCR-MR01C to -MR07C are used. The capacity

UGMMEM-06 of one p0wer.transformer is usually limitedto one

-_ UGMMEM-13 Servopack. Where multipleServopacks are applied

_ UGMMEM-25 QHY60W2`0 RA-6E2 to one transformer, a special transformer is

-o (B x 3P)

required In thiscase,contactyour Yaskawa

_ UGMMEM-50

.c_ UGMMEM-1A representative.

_ UGMMKR-2A QHY60W 2`0 x 2P SRCE0-4(Bx4P)

3.8 OPTIONAL COMPONENTS

3.7..3 Use of Servomotor with Holding

Magnetic Brake 3.8.1 Protection Device Type JESP-PT[_]

When servomotor with holding magnetic brake is Protection device type JESP-PT[-] for Servopack
used, use the following timing for signals ON and types CPCR-MR01C to -MR07C is available as an

OFF. The holding magnetic brake is released by option. Protection device type JESP-PT[_] contains
current conduction, protective circuits to detect overcurrent and

ON overvoltage protection. If any trouble occurs,

HOLDING MAGNETIC OFF J BRAKE RELEASED ! OFF the protective circuit is actuated and the indicator
BRAKE --*, 0.1sORMORE* LED lights to indicate the status. Operating status

=t SPEEDREFERENCEIt

t' 'iINPUT l' cannot be output outside of Servopack.

SPEEDREFERENCE 0V I ! I I By using Servopack with protective device

,' OFF ,l F11ON type JESP-PT[-q_.,trouble status can be indicated

EXTERNAL

BASE

OFF

ON

'' I ' and output by built-in relays. The protection

', devices can be easily connected to Servopack using

\,

RUNNING

connectors.

MOTOR ROTATION STOP . i STOP

i-}-1 Prot&ction device type JESP-PT[_-_ contains

functions such as TG trouble detection and input/

*Input speed reference 0.1 second or more after the brake re- output prohibition indication, and current monitor

lease reference has been input, terminal. Type JESP-PT[:]L containing overload

tApply brake after the motor has stopped completely. (Do not

use the brake to decelerate the motor.) detection is available upon request.

Note: Arrow_shows a delay time greater than the operating
time (10 ms) of one relay.

Fig. 3. 27 Holding Magnetic Brake ON-OFF Timing

39

3.8.1 Protection Device Type JESP-PT[-] (Cont'd)

(I) Specifications

Table 3.8 Specifications of Protection Device

Protection Device PT101 PT102 PT201 PT202 PT203 PT203-C PT203-M PT203-H PT204
Type JESP- PT101L PT102L PT201L PT202L PT203L PT203L-C PT203L-IV PT203L-H PT204L

SERVOPACK Type CPCR- MR01C MR02C MR01CJ MR02CJ MR05C MR05C-CMR05C-IVMR05C-HMR07C

Reference

LED _ (white): indicates speed reference status of SERVOPACK.

Input
Inhibition

LED _ (white): Indicates base-off status of SERVOPACK.

(Base off)

LED _ (red): Indicates operating status of TG trouble detecting

Indicating circuit.

Functions* LED [PROTECTI (red): Indicates operating status of overcurrent

Servo detecting circuit.
Trouble LED [RE.GENE] (redi: Indicates operating status of overvoltage

detecting circuit.
LED IOT]t (red): Indicates operating status of overload detecting

circuit.

TG Trouble Activates when disconnected or shorted wiring or reverse connection
Detection in TG circuit is detected. Prevents motor overrun.

Overcurrent Activates when overcurrent flows in the transistor due to malfunction
Protective Detection such as motor insulation problems. Prevents transistor breakdown.
Functions Overvoltage Prevents troubles due to excessive regenerative power due to large

Detection load inertia.

Overload

Prevents troubles due to excessive overload of SERVOPCAK.

Detection

When the protective circuit is actuated, a servo trouble signal is sent to

Servo Trouble SERVOPACK from terminals 0, Q and (_), to stop the action of the motor drive
Output Specifications circuit.

(Terminals (_, (_, (_)) Contact rating: Transfer 1 contact (1 C)

200/100 VAC 1A, 24 VDC 1A
For resetting, depress the 1PB on the surface of the protection device (the alarm

Reset circuit _ of SERVOPACK is reset simultaneously.)
Current Monitor
(Terminals (_)-(_) f 0.045 V _+10 %/A at terminal _.

*Refer to Per.3.3.6, "Display."

tOnly for type JESP-PT[_3L.

!At terminal _, forward direction current gives O voltage and

reverse direction current gives O voltage.

(2) Elementary Diagram

TOSERVOPACK

TosERvoPAoK--L-J,

"4 _N '_ A B

18N-'_NOII RY L, INHIBITION
16-'-_--0--?t"- _ OVERCURRENTI--s.,_ _ INDICATION

,- COMr / ,DETECT,ONI -"

OVERVOLTAGEI_ J.

IPP._B_ I DETECTIONI ,"s-._.I ........ I INHIBITION

,-00m \ _ I TGTROUBLEI . INDICATION

\ 'L--"- I DETECTIONI_ _i _ _

'11 _ 2L__ I _ _ -r

,o \-x ov ,LOAO•

_-_Lu........ _ DETECTIONI_- _ _

I I -.l Notes:1. Diagram in _ is only for type JESP-PT;_._L.

ETECTION _ _ 2. Terminals (_ and _ are used when Yaskawa

Programmable Motion Controller is connected.

Fig. 3.29 Elementary Diagram of Protection Device

40

(3) Connection

POWER SUPPLY

200/220 VAC _+10 %,
OR 100/110 VAC

10 %, 50/60 HZ When protection device functions,

main power is turned oft.

1MCCB

NOISE FILTER

}____ OFF 1MC

IN EXAMPLE OF SERVO

1 MC TROUBLE INDICATION

1 RY

GROUN G U12 --

POWER

TRANSFORMER

(1 T)

N.C

CURRENT MONITOR

45 mV/A

2 MC

EXCLUSIVE CABLE
(WITH CONNECTOR)

THERMALRELAY

1FU (1THR)

SERVOPACK

TYPES I
CPCR-MR01 C

r ................. --1 TO -MR07C

i

1+:

SPEED
REFERENCE

UNIT )(+12 V)

)12(--12 V

Fig, 3, 30 Connection of SERVOPACK

Types CPCR-MR01C to -MR07C with

a Servomotor and Peripherals

(4) Precautions in Use 47.5 +5 )MM LONG CABLE

NEVER TUG_ I TO BE POSITIVELY

(a) Installation STRONGLY _ TYPE JESP-PT[_]

\

• Be sure to mount the protection device on

the left side of Servopack. 17 -

PROTECTION

• Mount it on Servopack as shown in Fig. 3.31. DEVICE TYPE

JESP-PT[_]

)

J TYPE J ESP-PT_:_L

/'_ ABOVE 1.25 aM' WIRE r--_OL

MAKE CORRECT WIRING IIRUN_IVR('CONNECT WITH SAME% O _BIT

_.TERMINAL MARKINGS.) /RESETI O I ....

L LI:]IO _O, -

Fig. 3.31 Mounting and Connection __r/_Y_ASKAW_A_IjJ

of SERVOPACK Types CPCR-MR01C to

-MR07C and Protection Device

41

3.8.1 Protection Device Type JESP-PT[]] (Cont'd) 3.8.2 Regenerative Unit Type JUSP-RG

(b) Wiring Regenerativeunittype JUSP-RG[]] forServopack

types CPCR-MR01C to -MR07C is available as an

• Do not pull, tug or jerk the connector leads, option. Servopack type CPCR-MR[]]C utilizes

• When fitting the connector, insure proper regenerative braking system to stop the motor,
direction of insertion and avoid bending so that the main circuit voltage increases by
pins. Do not insert forcibly, regenerative power when applying dynamic brake•

• When wiring, do not obscure the reset push- When a load with large inertia is driven or when
button and the indicating LEDs. motor is driven with minus load and regenerative

energy is continuously generated, main circuit

(c) Procedures when the protectior device has parts may be damaged due to overvoltage. Type

been actuated JUSP-RG[]] caps the increase of voltage at a
The protection device contains two indicators; constant value and prevents Servopack main

a white LED which turns red to indicate an in- circuit parts from damage•
put/output signal and a red LED which lights to Type JUSP-RG[]] contains protective circuits

indicate the protecting-circuit operation mode. to detect overvoltage and regenerative circuit

If the protecting circuit ("overcurrent protec- trouble caused by defective regeneration, and

tion," "overvoltage protection" and "TG trouble outputs operation status as alarm signals (lead
protection") is actuated, a servo trouble signal is relay contact). Therefore if any trouble occurs,

sent to Servopack, to stop the action of the motor or when an increase of regenerative processing
drive circuit• performance isrequired, depending on load condi-

tions, or prompt corrective action can be taken.

The protecting circuit continues to function
unless the protection device is reset. For resetting
the protecting circuit, locate the cause of trouble, (i) Specifications

and take a proper action. Table 3.9 shows the specifications of regenerative

For resetting, depress the IBS pushbutton unit type JUSP-RG.
on the surface of the protection device (the alarm
circuit of Servopack is reset simultaneously).

While the pushbutton is kept depressed, the LEDs

LPROTECT ],[T_ and IRE-GENE] and IALARMI on

the circuit board of Servopack light•

Table 3.9 Specifications of Regenerative Unit

RegenerativeUnit Type JUSP- RG001 RG002 RG003

MR 05 C, MR07C

SERVOPACKTypeCPCR- MR01 CJ, MR02 CJ MR02C MR01C
RegenerativeVoltage 170VDC 85VDC 65VDC

RegenerativeCurrent 8 ADC 8ADC 6ADC

Overvoltage 192V -t- 5 V 96 V _+3 V 73 V _+2 V
Detection* The protective circuit o _erates instantaneously at the above voltage.

Protective Regenerative The protective circuit operates when regenerative circuit is in failure status
Functions Trouble Detectiont for approx 0.5 s.

Protective Circuit

Lead relay (Type SRF-14 B made by Nippon Electric); 1 NO contact

Operation Output
Relay (Alarm Relay)_ Contact capacity--100 V, 0.3A max (15VA max)

20_ or more 10_ or more 10P, or more

External Additional Resistor

(100 W or more) (100 W or more) (100 W or more)

*This works when main circuit voltage increases more than the _' Overvoltage deteqtion signals and regeneration trouble detection

value in the table due to regenerative circuit trouble or regen- signals are output from the same relay.
erative processing shortage. # This external resistor will be connected to terminals (_ and

_'Abnormal (failure) status of the regenerative circuit means; (_) in the unit to increase regenerative current in the case of

abnormal short circuit in the power transistor for regeneration; regenerative processing shortage.
disconnection of the wire-wound resistor for regeneration.

42

(2) Elementary Diagram

) ,0v,

1-10 1 RR

() .,2

TYPE J USP-RG00[:]

Fig. 3.32 Elementary Diagram of Regenerative Unit

(3) Connection
See Fig. 3.3.

(4) Precautions in Use • When the protection device has been actuated

(a) Installation approx 0.5 seconds afterpower is applied.

Cause: Power transistor failure for regeneration

Frequent start/stop operation of the regenerative (short circuit failure)or disconnection of wire-
unit results in high temperature. Components

having low heat-resistance should not be installed wound resistor for regeneration
within 150 mm of the resistor unit. • Action: Check the power transistor and the

resistor. If any trouble is found, replace it.

(b) Procedures when the protection device has LED (red) in the regenerative unit lights

been actuated while power isapplied. It does not indicate

• When the protection device has been actuated alarm status.
while braking.

Cause: Regenerative processing shortage due
to very large load inertia

Action: Connect an additional resistor (installed
separately) between terminals (_ and (_) on

the regenerative unit.

4. INSTALLATION AND WIRING (3) if subjectedto Vibration:

Mount the unit on shock absorbing material.

4. 1 INSTALLATION (4) If Corrosive Gases Prevailing:

Servopack type CPCR-MRr_-]C is to be mounted on Avoid the location where corrosive gases exist
a base as standard, as it may cause extensive damage with long use,

especially :

4.1.1 Location • Poor commutation of the motor commutator

(1) When installed in A Panel: • Defective switching operation of contactors and

Keep the temperature around Servopack at 60°C relays.
or below. Avoid blowing cooling air directly (5) Where Unfavourable Atmospheric Conditions

against the transistors on the printed circuit board, considered:

(Fig. 4.1) Select a location with minimum exposure to oil,

water, hot air, high humidity, excessive dust

EXHAUSTEDAIR or metallic particles.

"_ _" 4.1.2 Mounting

60"CORBELOW_ ', PANEL Mount the unit vertically on the wall using the

' J mounting holes (4) on the base plate, with main

terminals at the bottom. (Fig. 4.3)

I

_':" CONTROL CIRCUIT TOP v/ (VERTICAL _ (HORIZONTAL

_1 ,,:_:::! TERMINALS \ ' -_ M°Ur_-r-]_ MOUNTING)_.'_X ..... -L :'_'_,'_-_ CONTROL (PRINTED r_l_rr_. .....

COOUNGA,R MA,NC,RCO,T--WALLill WALL

TERMINALS

L_ _/ _/',/11/111//I//I/,

BOTTOM

SERVOPACK TYPE CPCR-MR Good Poor Poor

Fig. 4.1 Typical Layout for Panel Mounting Fig. 4.3 Mounting Direction of SERVOPACK

(2) When installed near A Heat Source: (2) Effect on Peripheral Equipment

Keep the temperature around Servopack below Air contained in the upper side of Servopack will
60°C. (Fig. 4.2) be heated due to the heat dissipation of the heat

sink in Servopack. Other equipment and cable
ducts having low heat-resistance should be located

/%-x. SERVOPACK at least 150 mm from the upper part of Servopack.

t _ TYPE CPCR-MR

HEAT \ _ 4/

SOU RCE_ _1" .4" __f _

-- 4. 2 WIRING

"_" /_ _ 4.2.1 Selection of Cable Size

;11

- /_. Cable size should be determined according to the

rated currents of each Servopack type shown in

I--': Table 4.1. Table 4.2 shows recommended cable

sizes for the use at ambient temperature of 40¢_,

-. " with 3 cables harnessed in a bundle, and at the

rated current of Servopack, shown in Table 4.1.

Ix II "_ _limlawn_ _1122 Table 4.3 shows recommended cable types.

Fig. 4. 2 Protection against Heat Radiation

44

Table 4.1 (a) Rated Current of SERVOPACK Types CPCR-MR01C to -MR07C

_Servopock Type Rated Current A

Circuit Terminals Terminal _CPCR- MR 01 C MR 02 C MRs05 C MR 07 C AC/DC

Symbol _ MR 01 CJ MR 02 CJ

ACPowerSupply (_ (_ 9 10.5 12 19 AC

= Motor Main Circuit and
o ThermalOverloadRelay (_)® 6 7 8 13 DC

Optional ® (_ 6 8 8 8

c

:_ Control Circuit Power Supply (_) (_ 0.2 AC

Blown Fuse DetectingCircuit (_ @ 220VAC, 1A* --
Speed Reference Input O (_ 0 to 4- 6 V, 0 to 0.3 mA; 0 to 4- 7 V
Tachometer-generator Circuit @) (_) (_ 30 V), 0 to 1 mA (4 mA)

o= OvertravelCircuit (_)(_)Q 4-8 V, 3 mA

L_ ProportionalDrive (_)@ DC

-_ Aux. Speed Reference Input (_) (_ 4-2 to 4- 10V, 0 to 4- 0.SmA
Output of 4- 12V (_ @ @ 4-12V, 30mAmax.

o External Current-limit Circuit @ (_ 0 to 4-6 V, 2 mA

ExternalBase-off _ @ 4-8 V, 3mA

At 200 V 1.5 2.5 5 7.5 /-

Power Transformer Primary Side At 100V 3 5 10 15 AC
*Allowable operational current.

Table 4.1 (b) Rated Current of SERVOPACK Types CPCR-MR08C to -MR99C

SERVOPACK Rated Current (A)

ter- AC/

ter-'<j. Type

Circuit Terminals minal\ CP_R-MR08C MR15C MR22C MR55C MR75C MR99C DC

SyrnbolL---._._ MR08CW MR15CW MR22CW MR55CW

20 at 26 at 26 at 35at 50 at

AC Power Supply ® ® O 5 9 12 3.7kW5.5kW 6kW 9.9kW 9.9 kW AC

== Control Circuit Power Supply (]90 0.3

o DC Reactor and Thermal _).

L3 OverloadRelay © 7 13 18 30 40 50
"(_ Motor Main Circuit (_) ® DC

RegenerativeResistort G @ 6 16 32 48
ThermalSwitch Q @ -- 0.5 AC
Speed Reference Input O (_ 0 to 4- 6 V, 0 to 4- 0.3 mA
Tachometer Generator Circuit _) (_) 0 to 4- 7 V (4- 21 V), 0 to 4- 1 mA (4- 3 mA)

Aux. Speed Reference Input (_) (_) 0 to 4- 2 V (4- 10 V), 0 to 4- 0.1 mA (4- 0.5 mA)
Overtravel Circuit at Forward

Running (_)(_

4- 12 V, 4-5mA

Overtravel Circuit at Reverse

Running (_)(_

DC

El

3. I Proportional Drive (_) @ 4-1 2 V, 4- 10 mA

/.3: Output of 4-12V @) @ @ 12V, 4- 30mA

External Current-limit Circuit

at Reverse Running @ ® 0 to 4- 6 V, 0 to 4-2 mA

_) External Current-limit Circuit

O at Forward Running (_ @ 0 to -- 6 V, 0 to -- 2 mA

Current Monitoring Circuit {_) @ 0 to 4- 1.2 V, 0 to 4- 0.05 mA
Servo Trouble Detecting

Circuit _) @ _) 100VACor 200 VAC,1A_ 24 VDC,1 A_ --
ExternalBase-off (_)@ 4- 8 V, 4-3mA

Optional @® -- DC
Grounding (_ O --

*Terminals L1 and L2 are used for types CPCR-MR75C, -MR99C.
t Junction terminals in Servopac/( and not used for external wiring.

Allowable operational current.

45

4.2.1 Selection of Cable Size (Cont'd)
Table 4.2 (a) Recommended Cable Size of SERVOPACK Types CPCR-MR01C to -MR07C

_ SERVOPACK Cable Size mm2

Circuit Terminal Terminal'_-_ Type MR 01 C -[ MR 02 C MR

O5

C

MR07C

Symbol _ MR 01 CJ T MR02 CJ

AC PowerSupply Q (_

Motor Main Circuit and Thermal 2.0 or more* 3.5 or more*

Overload Relay (_)®

(o

,- Optional (DO

:_ Control Circuit Power Supply (_) (_) 1.25 or more

Blown Fuse Detecting Circuit _) (_

Speed Reference Input (_) (_ Two-core twisted shielded cable type RG-1 08A/U made by Fujikura
Tachometer-generator Circuit (_ (_ Ltd., or equivalent.

'OvertravelCircuit O (_)_) 1.25or more

Proportional Drive (_ @

-_ Aux. Speed Reference Input (_ O Two-core twisted shielded cable type RG-108A/U
Outputof 4-12V (_ @@ 1.25or more

o External Current-limit Circuit @ O

Twisted Cable 0.3 or more

External Base-off (_ @

Power Transformer Primary Side -- 2.0 or more*

* Heat-resistant cable vinyl chloride conduit or metallic conduit), determine the cable

Notes: size considering the current drop rate of the cables.

1. For the main circuit, use cables of 600 V or more. 3. Where the ambient temperature (in the panel) is high (40 to
60°C), use heat-resistant cables.

2. Where cables are bundled or put in a duct (unplasticized poly-

Table 4.2 (b) Recommended Cable Size of SERVOPACK Types CPCR-MR08C to -MR99C

SERVOPACK CableSize mm_

Circuit Terminals mma/ _ ¢.pc,a-r_al_ Type MR08C MR15C MR22C MR55C

MR75C MR99C

Syrnbo, "-C-_ MR08CW MR15CW MR22CW MR55CW

AC Power Supply (_) _) (_ 2.0 or more* 2.0 or more* 3.5 or more* 5.5 or more* 8.0 or more* 14.0 or more*

= Control Circuit Power Supply Q O 1.25 or over

o= DC Reactor and Thermal

o Overload Relay _)(_) 2.0ormore* 2.0ormore* 3.5ormore* 5.5ormore* 8.0ormore* 14.0 or more*
.=_ Motor Main Circuit _) ®

0_

RegenerativeResistor (_ (_ -- 5.5*
ThermalSwitch (_ Q

Speed Reference Input (_) (_)
Tachometer-Generator Circuit O (_

Aux. Speed Reference Input (_ (_) Two-core twisted shielded cable

Overtravel Circuit at Forward type RG-108A/U made by Fujikura
Running _) (_) Ltd.,or equivalent.

Overtravel Circuit at Reverse

Running (_)Q

o= Proportional Drive _) @ 1.25or more

_) Output of 4-12V O @ @

-6 External Current-limit Circuit
at Reverse Running @ @

¢.

8 External Current-limit Circuit Twisted cable 0.3 or more

at Forward Running (_)@
Current Monitoring Circuit @ @

Servo Trouble Detecting
Circuit (_)@@) 1.25or more

External Base-off O @ Twisted cable 0.3 or more

Optional _ (_ --
Grounding (_ (_ 2.0 or more

* Heat-resistant cable vinyl chloride conduit or metallic conduit), determine the cable

Notes: size considering the current drop rate of the cables.

1. For the main circuit, use cables of 600 V or more. 3. Where the ambient or panel inside temperature is high (40

2. Where cables are bundled or put in a duct (unplasticized poly- to 60°C), use heat-resistant cables.

Table 4 3 Recommended Cable Type present in the neighborhood, use filters in the

Conductor Max power and input circuits.

AllowableTemperature °C Cable Type (4) Type CPCR-MR _-_C use_ a switching amplifier,

HIV and noise may remain in the signal line.

75

Heat-resistant

vinyl

_HIV

Ground SG 0 V (terminal (_)). Ground resist-

Ebic (made by Sumitomo I IP ance should be 100_ or below.

80

Electric

Industries,

Ltd.)

I

LP

I When noise cannot be avoided due to the neces-

Polyethylene heat- H-

90 resstant CV sity of wiring route and length, use a filterin

the input circuit.

(5) Remedy for Radio Frequency Interference

4.2.2 Precautions for Wiring (R.F.I)

Servopack is a divice for speed control of i000: i, Servopack is not provided with a protection from

radio frequency interference. If the controller

and thus its wiring needs great precaution. The
signal level must process 6 mV or less and therefore is troubled by radio wave, connect a noise filter

to power supply. See Par. 3.5.1.

the following precautions are necessary:

(6) Replacing Previous Type CPCR-MR[]H with

(I) Run the power line and signal line in separate

ducts; do not run them in the same duct or in Type CPCR-MR08C to -MR75C

a bundle. The resistorunit (type JUSP-R00[] )is not used

because type CPCR-MR[-]C incorporates the regen-

(2) The signal line and TG feedback line must erative resistor, when replacing type CPCR-

use two-core twisted shielded cable [Type RG MR[I]H with type CPCR-MR[]C.

108A/U made by Fujikura Ltd.] or coaxial cable.

Do not bundle them with the power line or contain

in the same duct. 4.3 POWER LOSS

(3) When the same power as for an electric welder

or electrical discharge machine is used for Servo- The power loss of Servopack and peripheral devices

pack, or when a high-frequency noise source is is shown in Table 4.4.

Table 4.4 Power Loss of SERVOPACK and Optional Components

SERVOPACK Optional Components Total

Output Power Loss Regenerative Power DC Reactor Power Loss

Type CPCR- Current Resistor* Transformer

A W W W W W
MR01C 6 60 26 86
MR02C 7 60 33 93

MR05C 8 80 50 130
MR07C 13 130 66 196
MR08C 7 75 30 35 140
MR15C 13 110 30 45 185
MR22C 18 180 60 60 300

25 250 540

MR55C 28 280 180 110 570

30 310 600
MR75C 40 400 180 140 720
MR99C 55 750 250 200 1200

*The loss of regenerative resistor occurs when the motor stops.

The loss can be ignored when the start and stop are not fre-

quent.

47

5. DIMENSIONS in mm

5.1 SERVOPACK

(1) Types CPCR-MR01C to -MR05C

EXTERNAL TERMINALS

NAMEPLATE OF CONTROL CIRCUIT

(M4 SCREW, 16P)

CONTROL BOARD

SERVOPACK j J

Ii

I r.1-

Lr+i_.I I ''

..... i¢2-<-,LJ.........

II I I _' ;; I

II ] I '_lk /I Ii,..+ , I
I II I "" "_ I

I i "-

I I ,,.._ ._ o I ' r_'

L_Cg___T-J , __ 7 _ _ ' ,

I I II .........

,r ] I ,,"+ -_

I I __LI

, I ,_ _=

I(..

I I It.-'._i

It,' ", ,

i I,_, }+ I

L i , ,--_fi

C4 lillli I TI----TF-

UllVl U21V2 AIB PiN C3 X_

140 7--_-_ EXTER' 184

- TERMIr
OF MAI CIRCUIT

170 __ (M4 SC t, 10P) 210 MAX

APPROXWEIGHT: 6.3kg

(2) Type CPCR-MR07C

EXTERNAL TERMINALS

NAMEPLATE OF CONTROL CIRCUIT

(M4 SCREW, 16P)

CONTROL BOARD

SERVOPACK J J]-

i , _{-

I I

I 41 1 r,

"_ - _- L-- I 6-I

L ______ .L-----

i i

' n--J_ i

F 1, , ', 1 ,

I I I

I I I It 1
II I, I it t j

t ', I II I

i i ' I II I
I I I I II I

II

lI I

I I I I cq C_l U___i
I I I I U

I II
I , I 'I_" _ k-

L II I i i I j.

I I -In

I I I

+I ' '

LW '1 "_'LL J'

LJ<" ,,7 -- L7.......

+., u=V=ABN r _+ .', _r,,,..............---____---__,"

_.@rv, P o_lc_if!trj\\ 'l I'-'C06LINGFANI'OOV,_C)'"

_-4-\ li,

EXTER I 184

1

40

-- -- , TERMII

I

OF MA CIRCUIT

170 - (M4 SCREW,10P) 210 MAX

APPROX WEIGHT: 7.8 kg

48

(3) Types CPCR-MR08C, -MR15C

EXTERNAL TERMINALS

OF CONTROL CIRCUIT

NAMEPLATE (M4 SCREW, 15P x 2)

CONTROL BOARD

J

I ll_ I

"_" eT....

I IIJ- I
1 II

r'-'_ -t -i

-- - r _--11

',+I ,+i'' i l,

L_I. ' ' LI_'"

___ +_+ . L__+

jCONTROL BOARD',_1 .--i

I a I
I-h I

t--I I

r-d ,'-- ,

L-1 _ I -I"

I

+ ,--- ,

i'*,"- I /'

i+! -- r

r.r____ r-T-? _ _--,

i--} -- %-',, v'-'-- "-_ ..... P:= _1,_,

I I' ' '

, ,I I 1 +gl,

j I ,

,__j .....

L+j L__,

+

MA{3NETIC0CONTACTOR [_ --Iiii I1-1"II _1

(1MC) .... i,.... i i

# "_t IJ_ I

,14 ,lI I

"_¢'L ...... U-__J

170 211MAX

EXTERNALTERMINALS
OF MAIN CIRCUIT
(M4 SCREW, 12P) APPROX WEIGHT: 13kg

*Furnished for types CPCR-MR08C/ and -MR15CL_.
Note: Parallel installation requires space more than 30 ram.

49

5.1 SERVOPACK (Cont'd)

(4) Types CPCR-MR22C, -MR55C

EXTERNAL TERMINALS
OF CONTROL CIRCUIT

NAMEPLATE (M4 SCREW, 15 Px 2)

CONTROL BOARD

;ERVOPACK

-._ r-

_--d+,_-...... ---_

t I

, t t

I J II I

1

I

CONTROL BOARD = I

F',,_/ - " '....... l_ i _ --_.\\ I J

r"k4i/ +, ' I '

I L.j-I/ t t I _ I

J--I \ ,I 1 I

r-F= T-_ ---- ,r---]

I" I ] I / \\

* !-;:-L!* I+ ÷ ,, , , i o=

..... ,' L 3++ '-

LI:_ J I _ _

1.__ I _

I ffl- -- -- '_

I _ I ..... It f F-

I I !! I
I I I p I Ua

II f f ] Ir I Zia4

r : I i, I

+

1

r- ..... -I " ._11

L_ _J____J '11

[ ] .,. II

t,

i i r -:'-I--- _1_ II

+-4Jlt I-i+ F J,-----;4--....-,

170

140

253 MAX

1_o _ /I _ -

EXTERNAL TERMINALS ONLY FOR TYPE CPCR-MR55C
OF MAIN CIRCUIT

(M4 SCREW, 12P) APPROX WEIGHT: 14kg

*Furnished for types CPCR-MR22C_L and MR55CL.
Note: Parallel installation requires space more than 30 mm.

50

(5) Types CPCR-MR08CW, -MR15CW

EXTERNALTERMINALS _-

OF CONTROL CIRCUIT INSIDE OUTSIDE

NAMEPLATE (M4 SCREW, 15Px2)

CONTROL BOARD

AIR INLET

r -v- T-I
I I I I

_+, ,+,

I I I I

L-L ...... LJ

CONTROL BOARD*

/

"" -L _ ........ 1-3 I I

14-Ji PACKING

i" P-I--

T_--

LI ,_J ', ,_

r--;, F_i

LH-_ Il

I I

i i ' '

I i
I i

I I I I i r

f__j L_ I k ) PACKING

b _ _ --r J "7 -- - r t

L_-+-_; L-+J

I, 4

,,AGNET,010J"MO'00"T_TOR_ "',"I ',I

140 1219)

254MAX

170 -- 255MAX

t EXTERNAL TERMINALS

CONTROLLER LOWER SECTION OF MAIN CIRCUIT

(M4 SCREW, 12P) APPROX WEIGHT: 14kg

4-

I

E _ DRILLE i HOLE

_,_° .....

O

(.) r/) ..................................

_ 120° 29?

4-M6 TAPPED HOLE
OR 4-7 DIA HOLE

_ __ 290 89.5

425 1

Drilling Plan

"Furnished for types CPCR-MR08CWL and -MR15CWL.

Note: Parallel installation requires space more than 30 ram.

51

5.1 SERVOPACK (Cont'd)

(6) Types CPCR-MR22CW, -MR55CW

EXTERNAL TERMINALS
OF CONTROL CIRCUIT

NAMEPLATE (M4 SCREW, 15P × 2) INSIDE'_"OUTSIDE

CONTROLBOARD

-_ /rSE.VOPACK./_--- - -1_ L J

1519 21 1 7 8 _ I COOLING FAN AIR INLET

i I ",

L /

CONTROLBOARD' --I ,i

/i+_2', ' ' ," ", j i _!,/_

• '÷, [ _ , I

i t _LJ'_iJ- L-J x ---/ , L--!I _i ''+_1__. PACKING

r i I I _ // \'_ I I f

L_:_"_': I+"LJ ', - : L__.2+

1

i _. jl

L _ o ._/

_r

-- __-], r-..... I _1" qr--

I I I _ II

t i

t , : "

I I II

I I I [I

II I I II
I I I II

.... .q,,

.Jr'- -ILl L --"_t----J II PACKING

I_ MA,GNETIC-CONTACTOR t- _ Ill

[ [] i ,,,',++

,,.c, u__,.:!r.__.

I_: ;_" I

Jr s T r t ILA BY_Y,Y,Y=-_ _. "--_

AIR OUTLET

I I I t V_ \

J;I IL \ "

___ ._...._7 1 40 (217)

300 MAX

170 310MAX

t EXTERNAL TERMINALS

OF MAIN CIRCUIT

CONTROLLER LOWER
SECTION (M4 SCREW, 12P)

APPROXWEIGHT: 15kg

I

I

. -_-

/

_, _ i I !

°_ ' i DR.LLED,I i ' i

+_ i_i, i i HOLE-_-- it]|_ !DRILLEDHOLEI } "

_

, + i I i

4-M6 TAPPED HOLE 8 120 ° 29.5
OR 4-7 DIA HOLE _ I

__ $5.5

290 89.5

I I

425

Drilling Plan

*Furnished for types CPCR-MR22CWL and -MR55CWL.
Note: Parallel installation requires space more than 30 ram.

52

(7) Type CPCR-MR75C, -MR99C

EXTERNAL TERMINALS
OF CONTROLCIRCUIT J

(M4 SCREW)

+ I

1 + +?+ "

i

NAMEPLATE

_- 5CN4

4CN

I I l, , _,+

© +

iHol--_-_++,_+,_+,_

® ® ® ® ® _ COOLING FAN I

' ° I I _,i'

"s+_LA B [ I ,,, ,,,

+11®11°11®11®1_IP kw_ -++)'_

1

AIR

50 , 250 _ , 50

5 \ 350 _ 5 260MAX

/ / EXTERNALTERMINALS

J EXTERNAL TERMINALS OF CONTROL CIRCUIT

_/ OF MAIN CIRCUIT (M4 SCREW)

J_i_ +5SCREW)

_'_ ___ __ APPROX WEIGHT: TYPE CPCR-MR750--25 kg

TTIO TYPECPCR-MR99C--27kg

i' +_-_._OLOO_- i

53

5.2 POWER TRANSFORMER 5.4 RESISTOR UNIT TYPE JUSP-RAO3

SECONDARY PRIMARY 220 .37.
SIDE (SEE G) SIDE (M3)

o.....oo

NALAT ......11 ?

°_

___ I

- ---_ --

Ca- Approx PROTECTION'COVER/I I 3 SEMENT

Type pacity A+2 B-+2 C+1 D E_3° F G Weight EXTERNAL TERMINALS 4-7 DIA RESISTORS

VA kg (6P)WITHACRYLIC HOLE (25_,140W)

30 RESINCOVER

CPT8585 300 130 117 90 140 95 7 (M3) 6.2

J_

30 r ...... ]

CPT8624 500 130 117 90 165 120 7 (M3) 9.5

30 16

CPT8660 lk 150 160 104 170 125 7 (M3) 5,5 SPEED ADJUSTING POTENTIOMETER

3o

CPT8665 1.5k 185 173 125 215 175 10 (M3) 27

30 PANEL

CPT8589 300 130 117 g0 140 95 7 (M3) 6.2 _.s±_

TYPE 25HP ._ Drilling Plan

30 __ _--_-_ 7.5D,_

CPT8630 500 130 117 90 165 120 7 (M3) 9.5 2.5DIAHOLE

HOLE

37.5 I 24 }\MULTI-DIAL, TYPE MD
45

5.3 DC REACTOR

• TypesX3055 to X3058 • TypesX3066 and X3067

I 1 2 J(CONNECTINGTERMINAL)

------ ==:_=i_===./J (CONNECTING '1 _ _ "

L,+ ,ll .

Type Specification A B C D E F G H d Approx Weight

kg

X3055 I 10mH 8A 73 175 50 101 89 90 50 6 M4 4
X30561 10mH 13A 73 180 50 111 99 90 55 6 M4 5

X3057 10mH 18A 110 185 70 141 124 130 55 6 M4 8.5
X3058 10mH 28A 150 240 80 160 135 (150) 100 7 6dia bolt 14

X3066 10mH 40A 240 355 190 220 170 -- -- 10 M8 37
X3067 10mH 55H 250 400 200 230 180 -- -- 10 M8 47

54

5.6 THERMAL OVERLOAD RELAY 5.8 PROTECTION DEVICE TYPE JESP-PT
(1) Type RHR-15

47.4 140

n U Drilling Plan (M4 SCREW)

_-_ 53DIAHOLE \ l iii I i

c_ I .M4 TAPPED _ \

-[--_ HOLE --4-

RESET ROD 74.5

APPROX WEIGHT: 0.1kg

4CN

(2) Type RH-18E]PV

___ _ iiii Drilling PlaN. ,,__ _ _ TYPEsSERVOPACK

cM _ e_ CPCR-M R01 C_]

140I TO-MR07C[-]

74. \ _M4 TAPPEDHOLE
2-4.8 DIA HOLE

f ,KG

APPROX WEIGHT: 0.125kg

.... o ___- ,, 4 I l_-i-T

(3) Type RH-35[_]HV

n DrillingPlan _-_ 120MAX (3)--

i

" 14CN

5.3 DIA HOLE

e_ ,, M4 TAPPED

J__Ft HOLE

' Note: Be sure to mount the

protection device on the left

APPROX WEIGHT: 0.24kg side of Servopoc_.

(4) Type RH-35/[_-]HVW

MAIN CIRCUIT
TERMINALS M8

90 80.1 75

R_ 6. ORDER

Servopack types CPCR-MR;___C has a spare fuse
as the standard accessary, If the fuse is blown
off, it should be replaced by one of the same speci-

ROD fication.Table 4.5 shows the types and capacities

4-5.8 DIA

MTG HOLES of alarm fuses used for type CPCR-MR[-]C.

To order Servopack and optional components,

the type must be specified. When ordering, pay

5. 7 REGENERATIVE UNiT attentionto the following:
(TYPES JUSP-RG 001 TO -RG 003)

Table 6.1 Types and Capacities of Alarm Fuses

io- _;:

SERVOPACK MR01C MROICJ MR02C MRO2CJ MR05C MR07C

Type CPCR-

Type PL-475 PL-450 PL-475 PL-475 PL-4100 PL-4150

Alarm Ca-

oQ Fuse pac- 7.5A 5A 7.5A 7.5A 10A 15A
eJ ity

, , voP c,

TypeCPCR- (W) (W) (W) (W) MR75C MR99C

',4_1 I I[ II III II II I I_- -_ ___ Type C-10 0-15 C-20 C-30 C-40 C-60

_"_- I -;_; AlarmCa-

/ 110 r_ c.?ANeNECT?_?N T ERMINAL Fuse pac- ,0A 15A 20A 30A 40A 60A

130 % uv"*°" n=_ 150 MAX ity

4-6 DIA
MTG HOLES

APPROX WEIGHT: 2.5 kg

55

6. ORDER (Cont'd) (a) PowerTransformer

• Power transformer type: CPT[][][][_

(I) Servopack • Order power transformer separately•

Table 6.2 shows combination of DC servomotors
and Servopacks. (3)DC Reactor

• DC reactor type: X[7[][:][]

•Table 6.2 Combination of DC Servomotors

and SERVOPACK • Order DC reactor separately.

DC Servomotor SERVOPACK Type (4) Thermal Overload Relay

Type with TG

(7 V/1000 rpm) Standard Order I * Order 1l* Type RHP for the Print motor standard series

UGPMEN-08 and types RH-18 and RH-351[_-]T for Minertia

PMES-09 (10-pole) CPCR-MR01C -- -- motor 3 series does not come attached to the
UGPMEN-09 motor. They should be ordered separately.

UGJMED-10M CPCR-MR01CJ -- --

PMES-12 (10-pole) Other thermal overload relays come attached
UGPMEN-12 CPCR-MR02C -- -- to the motor.

UGMMEM-06 MR02C-M
UGJMED-40M CPCR-MR02CJ -- --

UGJMED-40L
PM ES-16 (10-pole)

UGPMEN-16
UGCMED-04AA CPCR-MR05C MR05C-C --

UGCMEM-04
UGHMED-03GG MR05C-H

UGMMEM-13 MR05C-M
UGMMEM-25 CPCR-MR07C -- • --

UGCMED-08AA
UGCMEM-08GC MR08CW-[]

UG HMED-06AA CPCR-M R08C MR08CL-[_
UGHMEM-06AA MR08C-H MR08CWL-[-]

UGHMED-06GG
UGJMED-60MA MR08C-J
UGCMED-15AA

UGCMEM-15GC
PMES-20 MR15C-P

UGHMED-12AA MR15CW-[_3
UGHMEM-12AA CPCR-MR15C MR15C-H MR15CL-[]

UGHMED-12GG MR15CWL-[-]
UGJMED-60L

MR15C-J

UGJMED-80M
UGMMEM-50AA MR15C-M
UGCMED-22AA

UGCMEM-22GC MR22CW-[:]
UGHMED-20AA

CPCR-MR22C MR22CL-[]

UGHMEM-2OAA MR22C-H MR22CWL-['_]
UGHMED-20GG

UGJMED-80L MR22C-J
UGCMED-37AA

UGCMEM-37FB

UGCMED-55AA
UGHMED-30AA MR55CW-[_7

UGHMEM-30AA CPCR-MR55C MR55CL-[:]
UGHMED-30GG MR55C-H MR55CWL-['_3

UGHMED-44AA
UGJMED-80K MR55C-J

UGMMEM-1AA MR55C-M
UGCMFD-75AA

CPCR-MR75C MR75CL-[-]

UGHMFD-60AA MR75C-H
GEELM-K

CPCR-M R99C MR99CL- [:]

UGMMKR-2AA MR99C-M

II 9:....

•Adjustmentonly. •Not adjustmentonly.

•The priceanddeliverytimeoforderedproductsaredifferentfromthose
of thestandardstockproducts, ContactyourYaskawarepresentative

forinformationwhenordering,
Note: Adjustingmethod is described in the separate instructions

(TOE-C717-12.1and TOE-C717-12.2).

Adjustment TSpeed setting (HM, JM, MM)

F Loop gain (MM)

L : ri:; (C:: :a:t:r i:ti: }

56

7. SELECTION GUIDE

7.1 DYNAMICS FORMULA FOR ELECTRIC FORCE

The drive system calculation ispossible by knowing

the efficiency of the inlet (motor), the outlet (load),

and intermediate (reduction gear), etc.

Item Linear Motion Rotating Motion

T_

Reference Figure t ///////////,///

2z "NM'TL 2z "NM'TL

Basic Load Running Power Pc = 60 Pc = 60

o oa,cs [ /

Formula Load Accelerating Power p, = 2 z . NM × -- P, = • NM × --

ta _0- ta

9.8 × /_ • M. PB T,

Load Torque TL = 2 z .R. r/ TL -- R. r/

Load Inertia JL M [P2-_--_.R ]2 1= " JL = -R_ X J_

2 z XNM (JM+&) 2 z XNM (JM+&)

Starting Time ta = ta =

60 (Tp-TL) 60 (Tp-TL)

2 zXNM. (JM+&) 2 zXNM" (JM+&)

Braking Time td = td =

60 (Tp+ TL) 60 (Tp+ TL)

1 .D2 z D4 L "(_)

JK = _-X MK or J_= 32 " P "L" I- -i

Solid Cylinder Inertia MK: Weight of solid cylinder (kg) -:-._'O(m) () )]O(m)

p : Density (kg/m a)
Optimum Linear Motion Body JK: = M.D z _'
Reduction Equivalent Inertia _ M(kg) REDUCTIONRATIO1/Ro

Ratio & + N, + T,

94. ta

Optimum Reduction Ratio Ro = gM'Nt _] |_ T'

94" ta ._ a_

STARTING RUN BRAKING STANDSTILL

; : , -i

V, (NM) -_ _SPEED '/

Torque /r TORQUE' _/ '_
RMS Torque RMS Value Trms =/_/ TP2 • ta+ TLz • tc+ TP_ " td Tp /(kg.m); \ ',

Value t TL 1___

'l ' i TIME

i-__ _;. ....

TP, ta ', tc ', td : II (s)

i ' 1 CYCLE'(t) ' ='

I_ =',

Po : Running Power (W) /_ : Friction Coefficient TL: Load Torque (N.m)

P. : Accel Power (W) M:Weight of Linear Motion Part (kg) Tp:Average Motor Start Torque (N.m)
Nt:Driven Motor Speed (r/rain) Jr:Load Inertia (kg.m 2) Trms: EffectiveAverage Torque (N.m)

NM : Motor Speed (r/min) JL : Load Inertia (kg.m 2) ta:Starting Time (s)

V_ : Load Speed(m/min=100cm/min) Ju: Motor Inertia (kg.m 2) tc: Running Time (s)

q :Speed Reducer Efficiency Tt : Load Torque td: Braking Time (s)

PB :Ball Screw Lead (m)

57

7.2 SERVOMOTOR SELECTION GUIDE

LINEAR MOTION
PART •Load speed : V g = 15 m/min -Number of feed : n = 60 cycles/min

_.,,_ 'Weight of linear motion part: M = 100kg -Feed length: _ = 0.1m

SERVO__,r_ _ ,_ _ _ "Length of ball screw : LB = 1.0m "Feed time: t==0.5s or below

Mu_._O_{0 _"'t_ .Diameter of ball screw: De =0.02m 'Friction Coefficient: /_=0.2

(__ BALL SCREW -Ball screw lead : PB = 0.01 m 'Machine efficiency : 7/= 0.8

•Reduction ratio : I/R = l/2 (including speed reducer)

•Speed reducer inertia : JG = 1× l0 -4 kg'm 2

(1) Speed Diagram

(m/mm)_

t- 60 _ 60 _ l.o (s)

n 60

Assumes t, = td

60_ 60×0.1

- 0.5 - o.1(s)

t. : t_ V, 15
tc = 0.5--0.1;<2 = 0.3 (s)

(2) Rotating Speed

Vt 15 - 1500 (r/min)

Load shaft speed Nt - PB 0.0_
Motor shaft speed NM = N_ •R = 1500×2 = 3000 (r/min)

(3) Load Torque

9.8 ff • M-PB _ 9.8×0.2×100×0.01

= 0.195 (N.m)

TL = 21rR" 7] 27r X2X0.8

(4) Load Inertia

Linear motion part JL_ = M 2_R = 100x _,_)

= 0.633X10 -4 (kg.m 2)

Ball screw JB -- 32 p "LB'D_-

7r X7.87 X 10'X 1.0 X (0.02)'× (+)'

-- 32
= 0.309X10-' (kg.m 2)

Speed reducer Jc = 1.0Xl0-' (kg.m 2)
Load inertia (motor shaft conversion)

JL = JLI+JB+Jc=I.942XlO -4 (kg.m 2)

(5) Load Running Power

27rNM • TL 27r X 3000X 0.195

-- = 61.3(W)

Po -- 60 60

(6) Load Acceleration Power

2

p. = (_2_r NM) 2 X JL----t. 2(__0__._X3000)x 1.942X10-'0.1

= 191.7 (W)

(7) Temporary Servomotor Selection

(Selectoin condition)

• TL --_ Motor rated torque *

• Pa +Po= (lto2) × Motor rated output*

• Value when combining Servomotor with Servopack

• NM __ Motor rated speed

• JL --_ Allowable load inertia of Servopack

58

From the conditions, select temporarily Servomotor and Servopack.

• Servomotor : Minert[a motor standard series,
185 W, Type UGMME - 06 AA 10 F

• Servopack : For speed control,.

Type CPCR - MR 02 C - M

(Combination Characteristics of Servomotor and Servopack)

Rated output: 165(W)
Rated speed : 3000 (r/rain)
Rated torque: 0.559(N.m)
Instantaneous max. torque : 1.96 (N.m)

Motor inertia : 0.567 × 10.4 (kg.m 2)
Servopack allowable load inertia : 2.85 x 10-4 (kg.m 2)

(8) Check of Temporary Selected Servomotor

(_) Required starting torque

Tp = 2 yr NM (JM -F JL) -- TL = 2 rr × 3000 × (0.567 + 1.942) X 10-4

60 ta 60 X 0.1

+ 0.195 = 0.983 (N.m) < Instantaneous max. torque ...... Usable

@ Required braking torque

Tp = 2 rr NM (JM -t- Jc) -- Tt = 2 rr X 3000X (0.567 + 1.942) X 10-4

60 t_ 60XO.1

--0.195 = 0.593 (N.m) < Instantaneous max. torque ...... Usable

@ Torque effective value

./TI • t. + T[ • tc + T] • te

Trms

q

t

=/(0.983) 2 × 0.1 + (0.195) 2 × 0.3 + (0.593)`2x 0.1

1

= 0.378 (N.m) < Rated torque ...... Usable

(9) Selection Results

From the above conditions, temporary selected Servomotor and Servopack are usable.
The torque diagram becomes as shown below.

(N.m) I ,./TORQUE

0.983 I----LI jt SPEED

_/I ...... "k\\\ /

/

\ /

0.195 '--

-o.59a-o.! o.a _11.oO4

59

_j

SERVOPACK

DC SERVOMTOR CONTROLLER

FOR SPEED CONTROL
TYPE CPCR-MR01C TO -MR99C

TOKYO OFFICE Ohtemacbi Bldg, 1-6-10htemachi, Chiyoda-ku, Tokyo, 100 Japan
Phone [phone], -9145 Telex YASKAWA J33530 Fax [phone]

SEOUL OFFICE Seoul Center BIdg, 91-1, So Kong-Dong, Chung-ku, Seoul, Korea
Phone [phone] Fax [phone]

TAIPEI OFFICE Union Commercial Bldg, 14F, 137, Nanking East Road, Sec 2, Taipei, Taiwan
Phone [phone], -7732 Fax [phone]

YASKAWA ELECTRIC AMERICA, INC. : SUBSIDIARY
Chicago-Corporate Headquarters 2942 MacArthur B(vd. Northbrook, Illinois 60062-2026, U.S.A.

Phone [phone] Fax [phone]
Chicago-Technical Center 3160 MacArthur Blvd. Northbrook, Illinois 60062-1917, U.S.A.

Phone [phone] Fax [phone]
Los Angeles Office 7341 Lincoln Way, Garden Grove, California 92641, U.S.A.
Phone [phone] Telex (230) 678396 YASKAWAUS TSTN Fax [phone]

New Jersey Office 30 Two Bridges Road, Fairfield, New Jersey 07006, US.A.

Phone [phone] Fax [phone]

YASKAWA ELECTRIC EUROPE GmbH : SUBSIDIARY
Niederhdchst&dter Stra,5'e71-73, W 6242 Kronberg-Oberhochstadt, Germany

Phone [phone] Telex 415660 YASE D Fax [phone]
YASKAWA ELETRICO DO BRASIL COM_SRCIO LTDA. : SUBSIDIARY

Av. Brig. Faria Lima, 1664-cj. 721/724, Pinheiros, S&o Paulo-SP, Brasil CEP-01452
Phone [phone] Telex (011) 82869 YSKW BR Fax [phone]

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
CPF Bldg, 79 Robinson Road No. 13-05, Singapore 0108

Phone [phone] Telex (87) 24890 YASKAWA RS Fax [phone]

YASKAWA ELECTRIC CORPORATION

TSE-C717-12G

Duetoo_g_ngl_n;ductmodification/improvemen_datasubjecttochangewiP,outno#be. _) .Printed in Japan September 1992 83-7 0.5WA

581-152,581-187.581-188